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      <arglist>(RealP cosAngle, RealP sinAngle)</arglist>
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      <arglist>(RealP angle)</arglist>
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      <arglist>(RealP angle)</arglist>
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      <arglist>(RealP cosAngle, RealP sinAngle)</arglist>
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      <arglist>(RealP angle)</arglist>
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      <arglist>(RealP cosAngle, RealP sinAngle)</arglist>
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      <arglist>(RealP angle)</arglist>
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      <arglist>(RealP cosAngle, RealP sinAngle)</arglist>
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      <arglist>(BodyOrSpaceType bodyOrSpace, RealP angle1, const CoordinateAxis &amp;axis1, RealP angle2, const CoordinateAxis &amp;axis2)</arglist>
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      <arglist>(BodyOrSpaceType bodyOrSpace, RealP angle1, const CoordinateAxis &amp;axis1, RealP angle2, const CoordinateAxis &amp;axis2, RealP angle3, const CoordinateAxis &amp;axis3)</arglist>
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      <arglist>(const QuaternionP &amp;q)</arglist>
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      <arglist>(const Mat33P &amp;m)</arglist>
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      <arglist>(const Mat33P &amp;m)</arglist>
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      <arglist>(int colj, const UnitVec3P &amp;uvecj)</arglist>
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      <arglist>(const UnitVec3P &amp;uvec, CoordinateAxis axis)</arglist>
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      <arglist>(MobilizedBodyIndex mbx, MobilizerQIndex qx)</arglist>
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      <arglist></arglist>
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      <arglist>(const Vector &amp;XY) const override</arglist>
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      <anchorfile>classSimTK_1_1BicubicFunction.html</anchorfile>
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      <arglist>(const Array_&lt; int &gt; &amp;derivComponents, const Vector &amp;XY) const override</arglist>
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      <arglist>() const override</arglist>
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      <arglist>() const override</arglist>
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      <name>clone</name>
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      <arglist>() const override</arglist>
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      <arglist>(const std::vector&lt; int &gt; &amp;derivComponents, const Vector &amp;x) const</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>(const BicubicSurface &amp;source)</arglist>
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      <arglist>(const Vector &amp;x, const Vector &amp;y, const Matrix &amp;f, Real smoothness=0)</arglist>
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      <arglist>(const Vec2 &amp;XY, const Vec2 &amp;spacing, const Matrix &amp;f, Real smoothness=0)</arglist>
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      <arglist>(const Vec2 &amp;XY) const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(const Vec2 &amp;XY, PatchHint &amp;hint, Transform &amp;X_SP, Vec2 &amp;k) const</arglist>
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      <arglist>(const Vec2 &amp;XY, Transform &amp;X_SP, Vec2 &amp;k) const</arglist>
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      <arglist>(int &amp;nx, int &amp;ny) 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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      <arglist>() const</arglist>
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      <arglist>(const Vec2 &amp;XY, Transform &amp;X_SP, Vec2 &amp;k) const</arglist>
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      <arglist>(int &amp;nx, int &amp;ny) const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(const Transform &amp;X_BS, const ContactSurface &amp;shape)</arglist>
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      <anchorfile>classSimTK_1_1CableObstacle_1_1ViaPoint.html</anchorfile>
      <anchor>a0616df779aa452e8f0cf42d360b8a2e7</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>ViaPoint</name>
      <anchorfile>classSimTK_1_1CableObstacle_1_1ViaPoint.html</anchorfile>
      <anchor>a72a09209fb169d1012e32af443b722fe</anchor>
      <arglist>(CablePath &amp;path, const MobilizedBody &amp;viaMobod, const Vec3 &amp;defaultStation)</arglist>
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    <member kind="function" static="yes">
      <type>static bool</type>
      <name>isInstance</name>
      <anchorfile>classSimTK_1_1CableObstacle_1_1ViaPoint.html</anchorfile>
      <anchor>acafbf109c4f5f9b5f0bbf8c486dd8d52</anchor>
      <arglist>(const CableObstacle &amp;)</arglist>
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    <member kind="function" static="yes">
      <type>static const ViaPoint &amp;</type>
      <name>downcast</name>
      <anchorfile>classSimTK_1_1CableObstacle_1_1ViaPoint.html</anchorfile>
      <anchor>a27925a2f647465695cde639ba88d1080</anchor>
      <arglist>(const CableObstacle &amp;)</arglist>
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    <member kind="function" static="yes">
      <type>static ViaPoint &amp;</type>
      <name>updDowncast</name>
      <anchorfile>classSimTK_1_1CableObstacle_1_1ViaPoint.html</anchorfile>
      <anchor>ad22f4ba759f5154812678760da57dbab</anchor>
      <arglist>(CableObstacle &amp;)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::CableObstacleIndex</name>
    <filename>classSimTK_1_1CableObstacleIndex.html</filename>
  </compound>
  <compound kind="class">
    <name>SimTK::CablePath</name>
    <filename>classSimTK_1_1CablePath.html</filename>
    <member kind="function">
      <type></type>
      <name>CablePath</name>
      <anchorfile>classSimTK_1_1CablePath.html</anchorfile>
      <anchor>abcc5addd22f946fb3fa1a79dac2e0601</anchor>
      <arglist>(CableTrackerSubsystem &amp;cables, const MobilizedBody &amp;originBody, const Vec3 &amp;defaultOriginPoint, const MobilizedBody &amp;terminationBody, const Vec3 &amp;defaultTerminationPoint)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>CablePath</name>
      <anchorfile>classSimTK_1_1CablePath.html</anchorfile>
      <anchor>a01a735f32422201355b4eaeccc47dd01</anchor>
      <arglist>(CableTrackerSubsystem &amp;cables, const MobilizedBody &amp;originBody, const MobilizedBody &amp;terminationBody)</arglist>
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    <member kind="function">
      <type></type>
      <name>CablePath</name>
      <anchorfile>classSimTK_1_1CablePath.html</anchorfile>
      <anchor>ac59ed2bfd55237ea705bedce6211a8ac</anchor>
      <arglist>(const CablePath &amp;source)</arglist>
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    <member kind="function">
      <type>CablePath &amp;</type>
      <name>operator=</name>
      <anchorfile>classSimTK_1_1CablePath.html</anchorfile>
      <anchor>ab2d8dd423ad00e0b8adcf1bf1ca4225a</anchor>
      <arglist>(const CablePath &amp;source)</arglist>
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    <member kind="function">
      <type></type>
      <name>~CablePath</name>
      <anchorfile>classSimTK_1_1CablePath.html</anchorfile>
      <anchor>ac86aa79b0b955c7f341e506b87b32fb9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>solveForInitialCablePath</name>
      <anchorfile>classSimTK_1_1CablePath.html</anchorfile>
      <anchor>af3dbb7d481a1bde9b79625462360584a</anchor>
      <arglist>(State &amp;state) const</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getNumObstacles</name>
      <anchorfile>classSimTK_1_1CablePath.html</anchorfile>
      <anchor>a607b9349f466ead229254b4324ba04b9</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>const CableObstacle &amp;</type>
      <name>getObstacle</name>
      <anchorfile>classSimTK_1_1CablePath.html</anchorfile>
      <anchor>ac9d72e5e9f4f8dc21aefcde1f81720c6</anchor>
      <arglist>(CableObstacleIndex obstacleIx) const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getCableLength</name>
      <anchorfile>classSimTK_1_1CablePath.html</anchorfile>
      <anchor>a2fc592f1cd3a4fb298f029303b51116f</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getCableLengthDot</name>
      <anchorfile>classSimTK_1_1CablePath.html</anchorfile>
      <anchor>a2b110b7056d8756cf21408a010c870c1</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>applyBodyForces</name>
      <anchorfile>classSimTK_1_1CablePath.html</anchorfile>
      <anchor>a8a55a426d8e1e93e85cc2efdff09a26a</anchor>
      <arglist>(const State &amp;state, Real tension, Vector_&lt; SpatialVec &gt; &amp;bodyForcesInG) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>calcCablePower</name>
      <anchorfile>classSimTK_1_1CablePath.html</anchorfile>
      <anchor>a925a47b944dc062040853980fc710ac6</anchor>
      <arglist>(const State &amp;state, Real tension) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getIntegratedCableLengthDot</name>
      <anchorfile>classSimTK_1_1CablePath.html</anchorfile>
      <anchor>aea3169baa44b547b28f71fb0f9d3ad99</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setIntegratedCableLengthDot</name>
      <anchorfile>classSimTK_1_1CablePath.html</anchorfile>
      <anchor>a2f24be7af5976870c833ef003d6f76e1</anchor>
      <arglist>(State &amp;state, Real value) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>CablePath</name>
      <anchorfile>classSimTK_1_1CablePath.html</anchorfile>
      <anchor>a8f26aa53850b99602d3636f1e245267c</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>const Impl &amp;</type>
      <name>getImpl</name>
      <anchorfile>classSimTK_1_1CablePath.html</anchorfile>
      <anchor>ac73a83fd3ca676b9efae43e0a3488886</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>Impl &amp;</type>
      <name>updImpl</name>
      <anchorfile>classSimTK_1_1CablePath.html</anchorfile>
      <anchor>a35d3c37e4ec6ea82ca61e2e419fa4985</anchor>
      <arglist>()</arglist>
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  <compound kind="class">
    <name>SimTK::CablePathIndex</name>
    <filename>classSimTK_1_1CablePathIndex.html</filename>
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  <compound kind="class">
    <name>SimTK::CableSpring</name>
    <filename>classSimTK_1_1CableSpring.html</filename>
    <base>SimTK::Force</base>
    <member kind="function">
      <type></type>
      <name>CableSpring</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a3302250982a6078c9908a3dac003c48c</anchor>
      <arglist>(GeneralForceSubsystem &amp;forces, const CablePath &amp;path, Real defaultStiffness, Real defaultSlackLength, Real defaultDissipationCoef)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>CableSpring</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a8f0ad4b1954686b15595b0e29457d662</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>CableSpring &amp;</type>
      <name>setDefaultStiffness</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a457b0d3d9114848f53de641500cc57a9</anchor>
      <arglist>(Real stiffness)</arglist>
    </member>
    <member kind="function">
      <type>CableSpring &amp;</type>
      <name>setDefaultSlackLength</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>af60df0ed9200731baedbba732f3fcb97</anchor>
      <arglist>(Real slackLength)</arglist>
    </member>
    <member kind="function">
      <type>CableSpring &amp;</type>
      <name>setDefaultDissipationCoef</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a31f95bd0365eb748d2a60a5944c63c72</anchor>
      <arglist>(Real dissipation)</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getDefaultStiffness</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a8d157640fdd82339d1896beb0c3099ec</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getDefaultSlackLength</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a21d7157b44663641c3a1f4543d074000</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getDefaultDissipationCoef</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a67a233719aeef0a072e154003b17c1a5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const CableSpring &amp;</type>
      <name>setStiffness</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a87dc5941febbbeb49b0e79c761c92cfc</anchor>
      <arglist>(State &amp;state, Real stiffness) const</arglist>
    </member>
    <member kind="function">
      <type>const CableSpring &amp;</type>
      <name>setSlackLength</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>af189f94efeb801a12afe8ec74285f5b6</anchor>
      <arglist>(State &amp;state, Real slackLength) const</arglist>
    </member>
    <member kind="function">
      <type>const CableSpring &amp;</type>
      <name>setDissipationCoef</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a184ae8395c34c8dc6ca0e639fa7c7274</anchor>
      <arglist>(State &amp;state, Real dissipationCoef) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getStiffness</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a98e9605db2147e933d34e2c7760643a6</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getSlackLength</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a3306591a132c47f96fecdeed390611f7</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getDissipationCoef</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>aa994c15c41f111a954ebc13402fe43e9</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getLength</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a5766fba14b116001e0ab08dc52026204</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getLengthDot</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a1247d13c8272ef83d34df4edbe5a276d</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getTension</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a485312f1c038438a7be431caa9b4f101</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getPotentialEnergy</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a9c1e0a3c6cc331774b3972d75286d873</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getPowerDissipation</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a33fae0a42cb37c132eca0b4f5bbcd9f4</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getDissipatedEnergy</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a38eed616733a008b4a33cb31cf45374a</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setDissipatedEnergy</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a96919741a4cc978a12666d7410b41fbd</anchor>
      <arglist>(State &amp;state, Real energy) const</arglist>
    </member>
    <member kind="function">
      <type>const CablePath &amp;</type>
      <name>getCablePath</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a48a943d13aec2565c34113fc833396e3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>CableSpring &amp;</type>
      <name>setDefaultStiffness</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a457b0d3d9114848f53de641500cc57a9</anchor>
      <arglist>(Real stiffness)</arglist>
    </member>
    <member kind="function">
      <type>CableSpring &amp;</type>
      <name>setDefaultSlackLength</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>af60df0ed9200731baedbba732f3fcb97</anchor>
      <arglist>(Real slackLength)</arglist>
    </member>
    <member kind="function">
      <type>CableSpring &amp;</type>
      <name>setDefaultDissipationCoef</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a31f95bd0365eb748d2a60a5944c63c72</anchor>
      <arglist>(Real dissipation)</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getDefaultStiffness</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a8d157640fdd82339d1896beb0c3099ec</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getDefaultSlackLength</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a21d7157b44663641c3a1f4543d074000</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getDefaultDissipationCoef</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a67a233719aeef0a072e154003b17c1a5</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>const CableSpring &amp;</type>
      <name>setStiffness</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a87dc5941febbbeb49b0e79c761c92cfc</anchor>
      <arglist>(State &amp;state, Real stiffness) const</arglist>
    </member>
    <member kind="function">
      <type>const CableSpring &amp;</type>
      <name>setSlackLength</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>af189f94efeb801a12afe8ec74285f5b6</anchor>
      <arglist>(State &amp;state, Real slackLength) const</arglist>
    </member>
    <member kind="function">
      <type>const CableSpring &amp;</type>
      <name>setDissipationCoef</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a184ae8395c34c8dc6ca0e639fa7c7274</anchor>
      <arglist>(State &amp;state, Real dissipationCoef) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getStiffness</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a98e9605db2147e933d34e2c7760643a6</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getSlackLength</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a3306591a132c47f96fecdeed390611f7</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getDissipationCoef</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>aa994c15c41f111a954ebc13402fe43e9</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getLength</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a5766fba14b116001e0ab08dc52026204</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getLengthDot</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a1247d13c8272ef83d34df4edbe5a276d</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getTension</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a485312f1c038438a7be431caa9b4f101</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getPotentialEnergy</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a9c1e0a3c6cc331774b3972d75286d873</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getPowerDissipation</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a33fae0a42cb37c132eca0b4f5bbcd9f4</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getDissipatedEnergy</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a38eed616733a008b4a33cb31cf45374a</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setDissipatedEnergy</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a96919741a4cc978a12666d7410b41fbd</anchor>
      <arglist>(State &amp;state, Real energy) const</arglist>
    </member>
    <member kind="function">
      <type>const CablePath &amp;</type>
      <name>getCablePath</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a48a943d13aec2565c34113fc833396e3</anchor>
      <arglist>() const</arglist>
    </member>
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  <compound kind="class">
    <name>SimTK::CableTrackerSubsystem</name>
    <filename>classSimTK_1_1CableTrackerSubsystem.html</filename>
    <base>SimTK::Subsystem</base>
    <member kind="function">
      <type></type>
      <name>CableTrackerSubsystem</name>
      <anchorfile>classSimTK_1_1CableTrackerSubsystem.html</anchorfile>
      <anchor>a32bfbeef2e86660a3ae53aba0f279735</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>CableTrackerSubsystem</name>
      <anchorfile>classSimTK_1_1CableTrackerSubsystem.html</anchorfile>
      <anchor>abc05343c2040428aa369e8ec0e49aa5d</anchor>
      <arglist>(MultibodySystem &amp;)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getNumCablePaths</name>
      <anchorfile>classSimTK_1_1CableTrackerSubsystem.html</anchorfile>
      <anchor>af74d3d2d33c8182be4c58faf07ce2956</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>const CablePath &amp;</type>
      <name>getCablePath</name>
      <anchorfile>classSimTK_1_1CableTrackerSubsystem.html</anchorfile>
      <anchor>a0fb0145efe6731ca8caf5dae268a9a2a</anchor>
      <arglist>(CablePathIndex cableIx) const</arglist>
    </member>
    <member kind="function">
      <type>CablePath &amp;</type>
      <name>updCablePath</name>
      <anchorfile>classSimTK_1_1CableTrackerSubsystem.html</anchorfile>
      <anchor>aceb2b34e1343193b69fbe19031d1e308</anchor>
      <arglist>(CablePathIndex cableIx)</arglist>
    </member>
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  <compound kind="class">
    <name>SimTK::CacheEntryIndex</name>
    <filename>classSimTK_1_1CacheEntryIndex.html</filename>
  </compound>
  <compound kind="class">
    <name>SimTK::CircularPointContact</name>
    <filename>classSimTK_1_1CircularPointContact.html</filename>
    <base>SimTK::Contact</base>
    <member kind="function">
      <type></type>
      <name>CircularPointContact</name>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>processObjects</name>
      <anchorfile>classSimTK_1_1CollisionDetectionAlgorithm_1_1ConvexConvex.html</anchorfile>
      <anchor>a304f8916ca14de572338df583d7f4d18</anchor>
      <arglist>(ContactSurfaceIndex index1, const ContactGeometry &amp;object1, const Transform &amp;transform1, ContactSurfaceIndex index2, const ContactGeometry &amp;object2, const Transform &amp;transform2, Array_&lt; Contact &gt; &amp;contacts) const override</arglist>
    </member>
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  <compound kind="class">
    <name>SimTK::CollisionDetectionAlgorithm::HalfSpaceEllipsoid</name>
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    <base>SimTK::CollisionDetectionAlgorithm</base>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~HalfSpaceEllipsoid</name>
      <anchorfile>classSimTK_1_1CollisionDetectionAlgorithm_1_1HalfSpaceEllipsoid.html</anchorfile>
      <anchor>ab920cbbb673476123164d57526084b7f</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>processObjects</name>
      <anchorfile>classSimTK_1_1CollisionDetectionAlgorithm_1_1HalfSpaceEllipsoid.html</anchorfile>
      <anchor>ace3b46691e266c726c054b48e3d26871</anchor>
      <arglist>(ContactSurfaceIndex index1, const ContactGeometry &amp;object1, const Transform &amp;transform1, ContactSurfaceIndex index2, const ContactGeometry &amp;object2, const Transform &amp;transform2, Array_&lt; Contact &gt; &amp;contacts) const override</arglist>
    </member>
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  <compound kind="class">
    <name>SimTK::CollisionDetectionAlgorithm::HalfSpaceSphere</name>
    <filename>classSimTK_1_1CollisionDetectionAlgorithm_1_1HalfSpaceSphere.html</filename>
    <base>SimTK::CollisionDetectionAlgorithm</base>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~HalfSpaceSphere</name>
      <anchorfile>classSimTK_1_1CollisionDetectionAlgorithm_1_1HalfSpaceSphere.html</anchorfile>
      <anchor>a7895e1492c06f987c3f1e692affd8d2c</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>processObjects</name>
      <anchorfile>classSimTK_1_1CollisionDetectionAlgorithm_1_1HalfSpaceSphere.html</anchorfile>
      <anchor>abe85505740870da509afee4807716c9f</anchor>
      <arglist>(ContactSurfaceIndex index1, const ContactGeometry &amp;object1, const Transform &amp;transform1, ContactSurfaceIndex index2, const ContactGeometry &amp;object2, const Transform &amp;transform2, Array_&lt; Contact &gt; &amp;contacts) const override</arglist>
    </member>
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  <compound kind="class">
    <name>SimTK::CollisionDetectionAlgorithm::HalfSpaceTriangleMesh</name>
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    <base>SimTK::CollisionDetectionAlgorithm</base>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~HalfSpaceTriangleMesh</name>
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      <arglist>()</arglist>
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      <type>void</type>
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      <anchorfile>classSimTK_1_1CollisionDetectionAlgorithm_1_1HalfSpaceTriangleMesh.html</anchorfile>
      <anchor>a3c4ef3f9e061772b93d96bf1ab123406</anchor>
      <arglist>(ContactSurfaceIndex index1, const ContactGeometry &amp;object1, const Transform &amp;transform1, ContactSurfaceIndex index2, const ContactGeometry &amp;object2, const Transform &amp;transform2, Array_&lt; Contact &gt; &amp;contacts) const override</arglist>
    </member>
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  <compound kind="class">
    <name>SimTK::CollisionDetectionAlgorithm::SphereSphere</name>
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    <base>SimTK::CollisionDetectionAlgorithm</base>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
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      <arglist>()</arglist>
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      <type>void</type>
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      <anchor>a5105a3e1d4ef3a45191b326bb258bb24</anchor>
      <arglist>(ContactSurfaceIndex index1, const ContactGeometry &amp;object1, const Transform &amp;transform1, ContactSurfaceIndex index2, const ContactGeometry &amp;object2, const Transform &amp;transform2, Array_&lt; Contact &gt; &amp;contacts) const override</arglist>
    </member>
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  <compound kind="class">
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    <base>SimTK::CollisionDetectionAlgorithm</base>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~SphereTriangleMesh</name>
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      <arglist>()</arglist>
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      <type>void</type>
      <name>processObjects</name>
      <anchorfile>classSimTK_1_1CollisionDetectionAlgorithm_1_1SphereTriangleMesh.html</anchorfile>
      <anchor>a2e489704d16f2ee120f4568a39b60286</anchor>
      <arglist>(ContactSurfaceIndex index1, const ContactGeometry &amp;object1, const Transform &amp;transform1, ContactSurfaceIndex index2, const ContactGeometry &amp;object2, const Transform &amp;transform2, Array_&lt; Contact &gt; &amp;contacts) const override</arglist>
    </member>
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  <compound kind="class">
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    <base>SimTK::CollisionDetectionAlgorithm</base>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~TriangleMeshTriangleMesh</name>
      <anchorfile>classSimTK_1_1CollisionDetectionAlgorithm_1_1TriangleMeshTriangleMesh.html</anchorfile>
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      <arglist>()</arglist>
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      <type>void</type>
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      <anchorfile>classSimTK_1_1CollisionDetectionAlgorithm_1_1TriangleMeshTriangleMesh.html</anchorfile>
      <anchor>ac76a9ba5c44f9419e06231b0057862eb</anchor>
      <arglist>(ContactSurfaceIndex index1, const ContactGeometry &amp;object1, const Transform &amp;transform1, ContactSurfaceIndex index2, const ContactGeometry &amp;object2, const Transform &amp;transform2, Array_&lt; Contact &gt; &amp;contacts) const override</arglist>
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  <compound kind="class">
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    <base>SimTK::ForceSubsystem</base>
    <member kind="function">
      <type></type>
      <name>CompliantContactSubsystem</name>
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      <arglist>()</arglist>
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    <member kind="function">
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      <name>CompliantContactSubsystem</name>
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      <arglist>(MultibodySystem &amp;, const ContactTrackerSubsystem &amp;)</arglist>
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      <name>getTransitionVelocity</name>
      <anchorfile>classSimTK_1_1CompliantContactSubsystem.html</anchorfile>
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      <arglist>() const</arglist>
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      <arglist>(Real vt)</arglist>
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      <name>getOOTransitionVelocity</name>
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      <arglist>() const</arglist>
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      <anchorfile>classSimTK_1_1CompliantContactSubsystem.html</anchorfile>
      <anchor>a2ba1905786c464de43f3edb793912a39</anchor>
      <arglist>(bool shouldTrack)</arglist>
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      <anchorfile>classSimTK_1_1CompliantContactSubsystem.html</anchorfile>
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      <arglist>() const</arglist>
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      <name>getNumContactForces</name>
      <anchorfile>classSimTK_1_1CompliantContactSubsystem.html</anchorfile>
      <anchor>a49aa90de6ed280053d6a3d1b2a09bb7c</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <arglist>(const State &amp;state, int n) const</arglist>
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      <type>const ContactForce &amp;</type>
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      <arglist>(const State &amp;state, ContactId id) const</arglist>
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      <name>calcContactPatchDetailsById</name>
      <anchorfile>classSimTK_1_1CompliantContactSubsystem.html</anchorfile>
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      <arglist>(const State &amp;state, ContactId id, ContactPatch &amp;patch) const</arglist>
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      <name>getDissipatedEnergy</name>
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      <arglist>(const State &amp;state) const</arglist>
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      <anchorfile>classSimTK_1_1CompliantContactSubsystem.html</anchorfile>
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      <arglist>(State &amp;state, Real energy) const</arglist>
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      <anchorfile>classSimTK_1_1CompliantContactSubsystem.html</anchorfile>
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      <arglist>(ContactForceGenerator *generator)</arglist>
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      <name>adoptDefaultForceGenerator</name>
      <anchorfile>classSimTK_1_1CompliantContactSubsystem.html</anchorfile>
      <anchor>a1196978aafd18d7a0d19c4a3d6d449c6</anchor>
      <arglist>(ContactForceGenerator *generator)</arglist>
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      <type>bool</type>
      <name>hasForceGenerator</name>
      <anchorfile>classSimTK_1_1CompliantContactSubsystem.html</anchorfile>
      <anchor>ac2880d1535ed211c770e62e60d549833</anchor>
      <arglist>(ContactTypeId contact) const</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>hasDefaultForceGenerator</name>
      <anchorfile>classSimTK_1_1CompliantContactSubsystem.html</anchorfile>
      <anchor>a56b94a5350472e834f439bc286202cfa</anchor>
      <arglist>() const</arglist>
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      <type>const ContactForceGenerator &amp;</type>
      <name>getContactForceGenerator</name>
      <anchorfile>classSimTK_1_1CompliantContactSubsystem.html</anchorfile>
      <anchor>a9681b08a40ffa118cf2e9ecad8371d7e</anchor>
      <arglist>(ContactTypeId contact) const</arglist>
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      <type>const ContactForceGenerator &amp;</type>
      <name>getDefaultForceGenerator</name>
      <anchorfile>classSimTK_1_1CompliantContactSubsystem.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>const ContactTrackerSubsystem &amp;</type>
      <name>getContactTrackerSubsystem</name>
      <anchorfile>classSimTK_1_1CompliantContactSubsystem.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>const MultibodySystem &amp;</type>
      <name>getMultibodySystem</name>
      <anchorfile>classSimTK_1_1CompliantContactSubsystem.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>static Real</type>
      <name>calcEffectiveCOR</name>
      <anchorfile>classSimTK_1_1ConditionalConstraint.html</anchorfile>
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      <arglist>(Real minCOR, Real captureSpeed, Real minCORSpeed, Real impactSpeed)</arglist>
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    <member kind="function" static="yes">
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      <name>calcEffectiveCOF</name>
      <anchorfile>classSimTK_1_1ConditionalConstraint.html</anchorfile>
      <anchor>a3316afae66de6151a70a3f34e065e89a</anchor>
      <arglist>(Real mu_s, Real mu_d, Real mu_v, Real transitionSpeed, Real slipSpeed)</arglist>
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    <member kind="function">
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      <arglist>()</arglist>
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      <arglist>(const double &amp;real, const double &amp;imag)</arglist>
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      <arglist>(int r, const double &amp;imag)</arglist>
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      <arglist>(const double &amp;real)</arglist>
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      <arglist>(const conjugate&lt; float &gt; &amp;cf)</arglist>
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      <arglist>(const float &amp;rf)</arglist>
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      <arglist>(const complex&lt; float &gt; &amp;x)</arglist>
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      <arglist>(const double &amp;r)</arglist>
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      <arglist>(const double &amp;r)</arglist>
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      <arglist>()</arglist>
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      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a3d05d60b48b9d4cd58b33a8048f7d568</anchor>
      <arglist>(const State &amp;state, const Array_&lt; SpatialVec, ConstrainedBodyIndex &gt; &amp;allV_AB, ConstrainedBodyIndex bodyB, const Vec3 &amp;p_BS) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findStationVelocityFromState</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a4cafad682b3be779fb188a7e09252b2a</anchor>
      <arglist>(const State &amp;state, ConstrainedBodyIndex bodyB, const Vec3 &amp;p_BS) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findStationAcceleration</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>aed7706101965f1272b83fb1add7b85b9</anchor>
      <arglist>(const State &amp;state, const Array_&lt; SpatialVec, ConstrainedBodyIndex &gt; &amp;allA_AB, ConstrainedBodyIndex bodyB, const Vec3 &amp;p_BS) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>addInStationForce</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a73d79a8dc66c84d8d0c1b933caab281b</anchor>
      <arglist>(const State &amp;state, ConstrainedBodyIndex bodyB, const Vec3 &amp;p_BS, const Vec3 &amp;forceInA, Array_&lt; SpatialVec, ConstrainedBodyIndex &gt; &amp;bodyForcesInA) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>addInBodyTorque</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a7c38be70e77f1404b960b9036f0840c0</anchor>
      <arglist>(const State &amp;state, ConstrainedBodyIndex bodyB, const Vec3 &amp;torqueInA, Array_&lt; SpatialVec, ConstrainedBodyIndex &gt; &amp;bodyForcesInA) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getMultipliers</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a03320135b0e94d5671d6f4851323606f</anchor>
      <arglist>(const State &amp;state, Array_&lt; Real &gt; &amp;multipliers) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>calcDecorativeGeometryAndAppend</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a831cec7110e07d78ce5728d0b934a515</anchor>
      <arglist>(const State &amp;s, Stage stage, Array_&lt; DecorativeGeometry &gt; &amp;geom) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>realizeTopology</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>af0dba4870ad0007689d9b698976f1920</anchor>
      <arglist>(State &amp;) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>realizeModel</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a93405c68834d5b4529b9eb417ef1ac2b</anchor>
      <arglist>(State &amp;) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>realizeInstance</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a4f6ff7fdbc5b9b1c39185f8d4086910d</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>realizeTime</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a7243ac68e86e9e5d1dbd49ad4a6ac489</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>realizePosition</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a5da04c79ddd711b4e32dccd1d80c3b8c</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>realizeVelocity</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a913b88722ec7b18e7be98456b695b135</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>realizeDynamics</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a495b99b6d868e44167bb4a6e2cad90d7</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>realizeAcceleration</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a1fb278af3c5cd98d16832ddc35b5878d</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>realizeReport</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a2f3c78ab57af4496da699b83cd303d3e</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>calcPositionErrors</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a6d10560dda85328eed95ad8ce7183c0e</anchor>
      <arglist>(const State &amp;state, const Array_&lt; Transform, ConstrainedBodyIndex &gt; &amp;X_AB, const Array_&lt; Real, ConstrainedQIndex &gt; &amp;constrainedQ, Array_&lt; Real &gt; &amp;perr) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>calcPositionDotErrors</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>af371d69811d9915a9fda68fe381f95c8</anchor>
      <arglist>(const State &amp;state, const Array_&lt; SpatialVec, ConstrainedBodyIndex &gt; &amp;V_AB, const Array_&lt; Real, ConstrainedQIndex &gt; &amp;constrainedQDot, Array_&lt; Real &gt; &amp;pverr) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>calcPositionDotDotErrors</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a9700039504f687a8bf619a90af42f5a9</anchor>
      <arglist>(const State &amp;state, const Array_&lt; SpatialVec, ConstrainedBodyIndex &gt; &amp;A_AB, const Array_&lt; Real, ConstrainedQIndex &gt; &amp;constrainedQDotDot, Array_&lt; Real &gt; &amp;paerr) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>addInPositionConstraintForces</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a07a80361b67d2fec5f10681c208c7d16</anchor>
      <arglist>(const State &amp;state, const Array_&lt; Real &gt; &amp;multipliers, Array_&lt; SpatialVec, ConstrainedBodyIndex &gt; &amp;bodyForcesInA, Array_&lt; Real, ConstrainedQIndex &gt; &amp;qForces) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>calcVelocityErrors</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a29307b115bed2196bd39e516cf62536b</anchor>
      <arglist>(const State &amp;state, const Array_&lt; SpatialVec, ConstrainedBodyIndex &gt; &amp;V_AB, const Array_&lt; Real, ConstrainedUIndex &gt; &amp;constrainedU, Array_&lt; Real &gt; &amp;verr) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>calcVelocityDotErrors</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>aa6d7fadd1f183d964789ed3375e62b26</anchor>
      <arglist>(const State &amp;state, const Array_&lt; SpatialVec, ConstrainedBodyIndex &gt; &amp;A_AB, const Array_&lt; Real, ConstrainedUIndex &gt; &amp;constrainedUDot, Array_&lt; Real &gt; &amp;vaerr) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>addInVelocityConstraintForces</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>abbc112a6a00704b64225747f765c4401</anchor>
      <arglist>(const State &amp;state, const Array_&lt; Real &gt; &amp;multipliers, Array_&lt; SpatialVec, ConstrainedBodyIndex &gt; &amp;bodyForcesInA, Array_&lt; Real, ConstrainedUIndex &gt; &amp;mobilityForces) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>calcAccelerationErrors</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a1ae4b4ab53f08289a0d7034b2e3a054f</anchor>
      <arglist>(const State &amp;state, const Array_&lt; SpatialVec, ConstrainedBodyIndex &gt; &amp;A_AB, const Array_&lt; Real, ConstrainedUIndex &gt; &amp;constrainedUDot, Array_&lt; Real &gt; &amp;aerr) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>addInAccelerationConstraintForces</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a3727138fa5ee9da8eb95c90c38883cba</anchor>
      <arglist>(const State &amp;state, const Array_&lt; Real &gt; &amp;multipliers, Array_&lt; SpatialVec, ConstrainedBodyIndex &gt; &amp;bodyForcesInA, Array_&lt; Real, ConstrainedUIndex &gt; &amp;mobilityForces) const</arglist>
    </member>
    <member kind="friend">
      <type>friend class</type>
      <name>Constraint::CustomImpl</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>ac7fb2fe2eab3303de126b490b5f62637</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getOneQ</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>adb54f944a72a001b40d8d2ab15614afb</anchor>
      <arglist>(const State &amp;state, const Array_&lt; Real, ConstrainedQIndex &gt; &amp;constrainedQ, ConstrainedMobilizerIndex mobilizer, MobilizerQIndex whichQ) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getOneQFromState</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>aaaf1c9f606ce5ea7ecafeae4800284b1</anchor>
      <arglist>(const State &amp;state, ConstrainedMobilizerIndex mobilizer, MobilizerQIndex whichQ) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getOneQDot</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a39f20090e49d030037868aba015229c4</anchor>
      <arglist>(const State &amp;state, const Array_&lt; Real, ConstrainedQIndex &gt; &amp;constrainedQDot, ConstrainedMobilizerIndex mobilizer, MobilizerQIndex whichQ) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getOneQDotFromState</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>ad9e1180fd8c1876f07c2568380ccf9fe</anchor>
      <arglist>(const State &amp;state, ConstrainedMobilizerIndex mobilizer, MobilizerQIndex whichQ) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getOneQDotDot</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a7b8a84f477c49011f7b57874a39ba0a2</anchor>
      <arglist>(const State &amp;state, const Array_&lt; Real, ConstrainedQIndex &gt; &amp;constrainedQDotDot, ConstrainedMobilizerIndex mobilizer, MobilizerQIndex whichQ) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getOneU</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>aa4bfe1748dc0b15cc7744c6c8eeb74d9</anchor>
      <arglist>(const State &amp;state, const Array_&lt; Real, ConstrainedUIndex &gt; &amp;constrainedU, ConstrainedMobilizerIndex mobilizer, MobilizerUIndex whichU) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getOneUFromState</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a24bba506cf64f37b85b51555f872f8e5</anchor>
      <arglist>(const State &amp;state, ConstrainedMobilizerIndex mobilizer, MobilizerUIndex whichU) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getOneUDot</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a3709f00c89654cf1fdb1987bbd8c1a12</anchor>
      <arglist>(const State &amp;state, const Array_&lt; Real, ConstrainedUIndex &gt; &amp;constrainedUDot, ConstrainedMobilizerIndex mobilizer, MobilizerUIndex whichU) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>addInOneMobilityForce</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a15fa33597f2a3d91f70c1e06a237af16</anchor>
      <arglist>(const State &amp;state, ConstrainedMobilizerIndex mobilizer, MobilizerUIndex whichU, Real fu, Array_&lt; Real, ConstrainedUIndex &gt; &amp;mobilityForces) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>addInOneQForce</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>ad1987e67e762d86ff8e031ccd2772dae</anchor>
      <arglist>(const State &amp;state, ConstrainedMobilizerIndex mobilizer, MobilizerQIndex whichQ, Real fq, Array_&lt; Real, ConstrainedQIndex &gt; &amp;qForces) const</arglist>
    </member>
    <member kind="function">
      <type>const Transform &amp;</type>
      <name>getBodyTransform</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>aa932a4fdff1c0d30d36fae3dc4ae9712</anchor>
      <arglist>(const Array_&lt; Transform, ConstrainedBodyIndex &gt; &amp;allX_AB, ConstrainedBodyIndex bodyB) const</arglist>
    </member>
    <member kind="function">
      <type>const Rotation &amp;</type>
      <name>getBodyRotation</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>afba7a1f9202faca637b7a4eb6f02bc1c</anchor>
      <arglist>(const Array_&lt; Transform, ConstrainedBodyIndex &gt; &amp;allX_AB, ConstrainedBodyIndex bodyB) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getBodyOriginLocation</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a9468702274d9e5d5d868dd4dde7d4b34</anchor>
      <arglist>(const Array_&lt; Transform, ConstrainedBodyIndex &gt; &amp;allX_AB, ConstrainedBodyIndex bodyB) const</arglist>
    </member>
    <member kind="function">
      <type>const Transform &amp;</type>
      <name>getBodyTransformFromState</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>aff746a6f21fe3126723baf6c0d619f4c</anchor>
      <arglist>(const State &amp;state, ConstrainedBodyIndex B) const</arglist>
    </member>
    <member kind="function">
      <type>const Rotation &amp;</type>
      <name>getBodyRotationFromState</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a11b24474f7564ce8a21a70b734aade2d</anchor>
      <arglist>(const State &amp;state, ConstrainedBodyIndex bodyB) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getBodyOriginLocationFromState</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>ae2f40f9c122c5ec69444432d55dac011</anchor>
      <arglist>(const State &amp;state, ConstrainedBodyIndex bodyB) const</arglist>
    </member>
    <member kind="function">
      <type>const SpatialVec &amp;</type>
      <name>getBodyVelocity</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>ac063400d1280d82bb44486b893661e0d</anchor>
      <arglist>(const Array_&lt; SpatialVec, ConstrainedBodyIndex &gt; &amp;allV_AB, ConstrainedBodyIndex bodyB) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getBodyAngularVelocity</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a0e16c9f36744ca45e0f0c7552a8610c9</anchor>
      <arglist>(const Array_&lt; SpatialVec, ConstrainedBodyIndex &gt; &amp;allV_AB, ConstrainedBodyIndex bodyB) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getBodyOriginVelocity</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>aba5692078086d8570478e34eeeace33e</anchor>
      <arglist>(const Array_&lt; SpatialVec, ConstrainedBodyIndex &gt; &amp;allV_AB, ConstrainedBodyIndex bodyB) const</arglist>
    </member>
    <member kind="function">
      <type>const SpatialVec &amp;</type>
      <name>getBodyVelocityFromState</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>aae48b3188310482fe8c8bdaf26567d9d</anchor>
      <arglist>(const State &amp;state, ConstrainedBodyIndex bodyB) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getBodyAngularVelocityFromState</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>af7a149a922c728d888c4f139cba0ce97</anchor>
      <arglist>(const State &amp;state, ConstrainedBodyIndex bodyB) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getBodyOriginVelocityFromState</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a7e9f3fe9ae50075646ec932ab5628b3b</anchor>
      <arglist>(const State &amp;state, ConstrainedBodyIndex bodyB) const</arglist>
    </member>
    <member kind="function">
      <type>const SpatialVec &amp;</type>
      <name>getBodyAcceleration</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>ae9cf9da3d9a74edf935b9fa7a45f5f92</anchor>
      <arglist>(const Array_&lt; SpatialVec, ConstrainedBodyIndex &gt; &amp;allA_AB, ConstrainedBodyIndex bodyB) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getBodyAngularAcceleration</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a00388a262b8360dd830d4aecc54b46b0</anchor>
      <arglist>(const Array_&lt; SpatialVec, ConstrainedBodyIndex &gt; &amp;allA_AB, ConstrainedBodyIndex bodyB) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getBodyOriginAcceleration</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a207c9c6db2b1faf19fd32e687b295510</anchor>
      <arglist>(const Array_&lt; SpatialVec, ConstrainedBodyIndex &gt; &amp;allA_AB, ConstrainedBodyIndex bodyB) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findStationLocation</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a1eb182a1ab0da99e94dde9da53521f60</anchor>
      <arglist>(const Array_&lt; Transform, ConstrainedBodyIndex &gt; &amp;allX_AB, ConstrainedBodyIndex bodyB, const Vec3 &amp;p_BS) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findStationLocationFromState</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>ab920ae4570826e8dac35cbf687ae9d82</anchor>
      <arglist>(const State &amp;state, ConstrainedBodyIndex bodyB, const Vec3 &amp;p_BS) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findStationVelocity</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a3d05d60b48b9d4cd58b33a8048f7d568</anchor>
      <arglist>(const State &amp;state, const Array_&lt; SpatialVec, ConstrainedBodyIndex &gt; &amp;allV_AB, ConstrainedBodyIndex bodyB, const Vec3 &amp;p_BS) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findStationVelocityFromState</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a4cafad682b3be779fb188a7e09252b2a</anchor>
      <arglist>(const State &amp;state, ConstrainedBodyIndex bodyB, const Vec3 &amp;p_BS) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findStationAcceleration</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>aed7706101965f1272b83fb1add7b85b9</anchor>
      <arglist>(const State &amp;state, const Array_&lt; SpatialVec, ConstrainedBodyIndex &gt; &amp;allA_AB, ConstrainedBodyIndex bodyB, const Vec3 &amp;p_BS) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>addInStationForce</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a73d79a8dc66c84d8d0c1b933caab281b</anchor>
      <arglist>(const State &amp;state, ConstrainedBodyIndex bodyB, const Vec3 &amp;p_BS, const Vec3 &amp;forceInA, Array_&lt; SpatialVec, ConstrainedBodyIndex &gt; &amp;bodyForcesInA) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>addInBodyTorque</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a7c38be70e77f1404b960b9036f0840c0</anchor>
      <arglist>(const State &amp;state, ConstrainedBodyIndex bodyB, const Vec3 &amp;torqueInA, Array_&lt; SpatialVec, ConstrainedBodyIndex &gt; &amp;bodyForcesInA) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getMultipliers</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a03320135b0e94d5671d6f4851323606f</anchor>
      <arglist>(const State &amp;state, Array_&lt; Real &gt; &amp;multipliers) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>realizeTopology</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>af0dba4870ad0007689d9b698976f1920</anchor>
      <arglist>(State &amp;) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>realizeModel</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a93405c68834d5b4529b9eb417ef1ac2b</anchor>
      <arglist>(State &amp;) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>realizeInstance</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a4f6ff7fdbc5b9b1c39185f8d4086910d</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>realizeTime</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a7243ac68e86e9e5d1dbd49ad4a6ac489</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>realizePosition</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a5da04c79ddd711b4e32dccd1d80c3b8c</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>realizeVelocity</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a913b88722ec7b18e7be98456b695b135</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>realizeDynamics</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a495b99b6d868e44167bb4a6e2cad90d7</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>realizeAcceleration</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a1fb278af3c5cd98d16832ddc35b5878d</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>realizeReport</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a2f3c78ab57af4496da699b83cd303d3e</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>calcPositionErrors</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a6d10560dda85328eed95ad8ce7183c0e</anchor>
      <arglist>(const State &amp;state, const Array_&lt; Transform, ConstrainedBodyIndex &gt; &amp;X_AB, const Array_&lt; Real, ConstrainedQIndex &gt; &amp;constrainedQ, Array_&lt; Real &gt; &amp;perr) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>calcPositionDotErrors</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>af371d69811d9915a9fda68fe381f95c8</anchor>
      <arglist>(const State &amp;state, const Array_&lt; SpatialVec, ConstrainedBodyIndex &gt; &amp;V_AB, const Array_&lt; Real, ConstrainedQIndex &gt; &amp;constrainedQDot, Array_&lt; Real &gt; &amp;pverr) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>calcPositionDotDotErrors</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a9700039504f687a8bf619a90af42f5a9</anchor>
      <arglist>(const State &amp;state, const Array_&lt; SpatialVec, ConstrainedBodyIndex &gt; &amp;A_AB, const Array_&lt; Real, ConstrainedQIndex &gt; &amp;constrainedQDotDot, Array_&lt; Real &gt; &amp;paerr) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>addInPositionConstraintForces</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a07a80361b67d2fec5f10681c208c7d16</anchor>
      <arglist>(const State &amp;state, const Array_&lt; Real &gt; &amp;multipliers, Array_&lt; SpatialVec, ConstrainedBodyIndex &gt; &amp;bodyForcesInA, Array_&lt; Real, ConstrainedQIndex &gt; &amp;qForces) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>calcVelocityErrors</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a29307b115bed2196bd39e516cf62536b</anchor>
      <arglist>(const State &amp;state, const Array_&lt; SpatialVec, ConstrainedBodyIndex &gt; &amp;V_AB, const Array_&lt; Real, ConstrainedUIndex &gt; &amp;constrainedU, Array_&lt; Real &gt; &amp;verr) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>calcVelocityDotErrors</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>aa6d7fadd1f183d964789ed3375e62b26</anchor>
      <arglist>(const State &amp;state, const Array_&lt; SpatialVec, ConstrainedBodyIndex &gt; &amp;A_AB, const Array_&lt; Real, ConstrainedUIndex &gt; &amp;constrainedUDot, Array_&lt; Real &gt; &amp;vaerr) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>addInVelocityConstraintForces</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>abbc112a6a00704b64225747f765c4401</anchor>
      <arglist>(const State &amp;state, const Array_&lt; Real &gt; &amp;multipliers, Array_&lt; SpatialVec, ConstrainedBodyIndex &gt; &amp;bodyForcesInA, Array_&lt; Real, ConstrainedUIndex &gt; &amp;mobilityForces) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>calcAccelerationErrors</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a1ae4b4ab53f08289a0d7034b2e3a054f</anchor>
      <arglist>(const State &amp;state, const Array_&lt; SpatialVec, ConstrainedBodyIndex &gt; &amp;A_AB, const Array_&lt; Real, ConstrainedUIndex &gt; &amp;constrainedUDot, Array_&lt; Real &gt; &amp;aerr) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>addInAccelerationConstraintForces</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a3727138fa5ee9da8eb95c90c38883cba</anchor>
      <arglist>(const State &amp;state, const Array_&lt; Real &gt; &amp;multipliers, Array_&lt; SpatialVec, ConstrainedBodyIndex &gt; &amp;bodyForcesInA, Array_&lt; Real, ConstrainedUIndex &gt; &amp;mobilityForces) const</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::Constraint::LineOnLineContact</name>
    <filename>classSimTK_1_1Constraint_1_1LineOnLineContact.html</filename>
    <base>SimTK::Constraint</base>
    <member kind="function">
      <type></type>
      <name>LineOnLineContact</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a0dff62361fe43002131efe8e8f7f4302</anchor>
      <arglist>(MobilizedBody &amp;mobod_F, const Transform &amp;defaultEdgeFrameF, Real defaultHalfLengthF, MobilizedBody &amp;mobod_B, const Transform &amp;defaultEdgeFrameB, Real defaultHalfLengthB, bool enforceRolling)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>LineOnLineContact</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a58c8a2cdee224bb7babd46368811d127</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const MobilizedBody &amp;</type>
      <name>getMobilizedBodyF</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a39d400b1e74a44886b083526890377b9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const MobilizedBody &amp;</type>
      <name>getMobilizedBodyB</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a28b6e65589bd0dfead9f8bf461f6483e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEnforcingRolling</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a35fbd4316a2d8170131fa6bd59e85c3e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LineOnLineContact &amp;</type>
      <name>setDefaultEdgeFrameF</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a2e0c3c98c2f95856c6b0a9ca4e8beaa4</anchor>
      <arglist>(const Transform &amp;defaultEdgeFrameF)</arglist>
    </member>
    <member kind="function">
      <type>LineOnLineContact &amp;</type>
      <name>setDefaultHalfLengthF</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>ab8c8c667297a020ef34f65e8ece37b89</anchor>
      <arglist>(Real defaultHalfLengthF)</arglist>
    </member>
    <member kind="function">
      <type>LineOnLineContact &amp;</type>
      <name>setDefaultEdgeFrameB</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a765fe5bc77ee8a65dd536a3183c1d7a6</anchor>
      <arglist>(const Transform &amp;defaultEdgeFrameB)</arglist>
    </member>
    <member kind="function">
      <type>LineOnLineContact &amp;</type>
      <name>setDefaultHalfLengthB</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a474909c7ceb74fd07d0104109fda7019</anchor>
      <arglist>(Real defaultHalfLengthF)</arglist>
    </member>
    <member kind="function">
      <type>const Transform &amp;</type>
      <name>getDefaultEdgeFrameF</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>aa79d89e5da2bec1dbcd49cae35ed5d57</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getDefaultHalfLengthF</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a7dde5c1cdeea54968138834a9e43390c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Transform &amp;</type>
      <name>getDefaultEdgeFrameB</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a805e448b8ce89c868e9d91a50640db55</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getDefaultHalfLengthB</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a78cdfbfebe051fe36752a8e79b1b99a2</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const LineOnLineContact &amp;</type>
      <name>setEdgeFrameF</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a3e116aa0622d3d4615077a8820d747fd</anchor>
      <arglist>(State &amp;state, const Transform &amp;edgeFrameF) const</arglist>
    </member>
    <member kind="function">
      <type>const LineOnLineContact &amp;</type>
      <name>setHalfLengthF</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>abcfdfd490e43f22b0de934111d3849e8</anchor>
      <arglist>(State &amp;state, Real halfLengthF) const</arglist>
    </member>
    <member kind="function">
      <type>const LineOnLineContact &amp;</type>
      <name>setEdgeFrameB</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a56a3dab34cc0e0e0534cef76f57848ef</anchor>
      <arglist>(State &amp;state, const Transform &amp;edgeFrameB) const</arglist>
    </member>
    <member kind="function">
      <type>const LineOnLineContact &amp;</type>
      <name>setHalfLengthB</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a9536710575164a5475f4396c5b8846e2</anchor>
      <arglist>(State &amp;state, Real halfLengthB) const</arglist>
    </member>
    <member kind="function">
      <type>const Transform &amp;</type>
      <name>getEdgeFrameF</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a0b829f9916f4b81e0d70ee5decf92318</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getHalfLengthF</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>aeb392db8fd670ba98fb94966e5c30f93</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>const Transform &amp;</type>
      <name>getEdgeFrameB</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a01ffffbae05cc2027d6e1777851ee341</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getHalfLengthB</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a95a164573319c4c8cbd5586b00503934</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getPositionError</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a3d0e5fcd61d8714344690dad5203d12d</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>getVelocityErrors</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a10bc9e8411c0d588d62e738991954842</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>getAccelerationErrors</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>ac268dd96b1a2592cc8d513b4bcaad93d</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>getMultipliers</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a5d009ee9343ec8ea90bac82d348985c2</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findForceOnBodyBInG</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a92bc1f1fce22f0cf10c14e958de9fbac</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Transform</type>
      <name>findContactFrameInG</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>af34e1ee916841fe155f957cb0adb15f8</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>findClosestPointsInG</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>afe8a8895427bb851fc8244527491d4df</anchor>
      <arglist>(const State &amp;state, Vec3 &amp;Qf, Vec3 &amp;Qb, bool &amp;linesAreParallel) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>findSeparation</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a01030c24c05e3464aaa312be90a2be40</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>LineOnLineContact</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a0dff62361fe43002131efe8e8f7f4302</anchor>
      <arglist>(MobilizedBody &amp;mobod_F, const Transform &amp;defaultEdgeFrameF, Real defaultHalfLengthF, MobilizedBody &amp;mobod_B, const Transform &amp;defaultEdgeFrameB, Real defaultHalfLengthB, bool enforceRolling)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>LineOnLineContact</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a58c8a2cdee224bb7babd46368811d127</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const MobilizedBody &amp;</type>
      <name>getMobilizedBodyF</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a39d400b1e74a44886b083526890377b9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const MobilizedBody &amp;</type>
      <name>getMobilizedBodyB</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a28b6e65589bd0dfead9f8bf461f6483e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEnforcingRolling</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a35fbd4316a2d8170131fa6bd59e85c3e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LineOnLineContact &amp;</type>
      <name>setDefaultEdgeFrameF</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a2e0c3c98c2f95856c6b0a9ca4e8beaa4</anchor>
      <arglist>(const Transform &amp;defaultEdgeFrameF)</arglist>
    </member>
    <member kind="function">
      <type>LineOnLineContact &amp;</type>
      <name>setDefaultHalfLengthF</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>ab8c8c667297a020ef34f65e8ece37b89</anchor>
      <arglist>(Real defaultHalfLengthF)</arglist>
    </member>
    <member kind="function">
      <type>LineOnLineContact &amp;</type>
      <name>setDefaultEdgeFrameB</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
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      <arglist>(const Transform &amp;defaultEdgeFrameB)</arglist>
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    <member kind="function">
      <type>LineOnLineContact &amp;</type>
      <name>setDefaultHalfLengthB</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a474909c7ceb74fd07d0104109fda7019</anchor>
      <arglist>(Real defaultHalfLengthF)</arglist>
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    <member kind="function">
      <type>const Transform &amp;</type>
      <name>getDefaultEdgeFrameF</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>aa79d89e5da2bec1dbcd49cae35ed5d57</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getDefaultHalfLengthF</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a7dde5c1cdeea54968138834a9e43390c</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>const Transform &amp;</type>
      <name>getDefaultEdgeFrameB</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a805e448b8ce89c868e9d91a50640db55</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getDefaultHalfLengthB</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a78cdfbfebe051fe36752a8e79b1b99a2</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>const LineOnLineContact &amp;</type>
      <name>setEdgeFrameF</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a3e116aa0622d3d4615077a8820d747fd</anchor>
      <arglist>(State &amp;state, const Transform &amp;edgeFrameF) const</arglist>
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    <member kind="function">
      <type>const LineOnLineContact &amp;</type>
      <name>setHalfLengthF</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>abcfdfd490e43f22b0de934111d3849e8</anchor>
      <arglist>(State &amp;state, Real halfLengthF) const</arglist>
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    <member kind="function">
      <type>const LineOnLineContact &amp;</type>
      <name>setEdgeFrameB</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a56a3dab34cc0e0e0534cef76f57848ef</anchor>
      <arglist>(State &amp;state, const Transform &amp;edgeFrameB) const</arglist>
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    <member kind="function">
      <type>const LineOnLineContact &amp;</type>
      <name>setHalfLengthB</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a9536710575164a5475f4396c5b8846e2</anchor>
      <arglist>(State &amp;state, Real halfLengthB) const</arglist>
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    <member kind="function">
      <type>const Transform &amp;</type>
      <name>getEdgeFrameF</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getHalfLengthF</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>const Transform &amp;</type>
      <name>getEdgeFrameB</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a01ffffbae05cc2027d6e1777851ee341</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>Real</type>
      <name>getHalfLengthB</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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      <type>Real</type>
      <name>getPositionError</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>Vec3</type>
      <name>getVelocityErrors</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>Vec3</type>
      <name>getAccelerationErrors</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>ac268dd96b1a2592cc8d513b4bcaad93d</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>Vec3</type>
      <name>getMultipliers</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a5d009ee9343ec8ea90bac82d348985c2</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>Vec3</type>
      <name>findForceOnBodyBInG</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a92bc1f1fce22f0cf10c14e958de9fbac</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>Transform</type>
      <name>findContactFrameInG</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>afe8a8895427bb851fc8244527491d4df</anchor>
      <arglist>(const State &amp;state, Vec3 &amp;Qf, Vec3 &amp;Qb, bool &amp;linesAreParallel) const</arglist>
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      <name>findSeparation</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a01030c24c05e3464aaa312be90a2be40</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <base>SimTK::Constraint</base>
    <member kind="function">
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      <anchorfile>classSimTK_1_1Constraint_1_1NoSlip1D.html</anchorfile>
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      <arglist>(MobilizedBody &amp;caseBodyC, const Vec3 &amp;P_C, const UnitVec3 &amp;n_C, MobilizedBody &amp;movingBody0, MobilizedBody &amp;movingBody1)</arglist>
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    <member kind="function">
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      <arglist>()</arglist>
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      <anchorfile>classSimTK_1_1Constraint_1_1NoSlip1D.html</anchorfile>
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      <arglist>(State &amp;state, const Vec3 &amp;point_C) const</arglist>
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      <type>void</type>
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      <anchorfile>classSimTK_1_1Constraint_1_1NoSlip1D.html</anchorfile>
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      <arglist>(State &amp;state, const UnitVec3 &amp;direction_C) const</arglist>
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    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getContactPoint</name>
      <anchorfile>classSimTK_1_1Constraint_1_1NoSlip1D.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>const UnitVec3 &amp;</type>
      <name>getDirection</name>
      <anchorfile>classSimTK_1_1Constraint_1_1NoSlip1D.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>NoSlip1D &amp;</type>
      <name>setDirectionDisplayLength</name>
      <anchorfile>classSimTK_1_1Constraint_1_1NoSlip1D.html</anchorfile>
      <anchor>a4f8e04fb8a3ab92ac2d24ebd2861ff39</anchor>
      <arglist>(Real)</arglist>
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    <member kind="function">
      <type>NoSlip1D &amp;</type>
      <name>setPointDisplayRadius</name>
      <anchorfile>classSimTK_1_1Constraint_1_1NoSlip1D.html</anchorfile>
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      <arglist>(Real)</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getDirectionDisplayLength</name>
      <anchorfile>classSimTK_1_1Constraint_1_1NoSlip1D.html</anchorfile>
      <anchor>ad430b41eece49611d76a0a3cd53f8703</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getPointDisplayRadius</name>
      <anchorfile>classSimTK_1_1Constraint_1_1NoSlip1D.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>NoSlip1D &amp;</type>
      <name>setDefaultContactPoint</name>
      <anchorfile>classSimTK_1_1Constraint_1_1NoSlip1D.html</anchorfile>
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      <arglist>(const Vec3 &amp;)</arglist>
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    <member kind="function">
      <type>NoSlip1D &amp;</type>
      <name>setDefaultDirection</name>
      <anchorfile>classSimTK_1_1Constraint_1_1NoSlip1D.html</anchorfile>
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      <arglist>(const UnitVec3 &amp;)</arglist>
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    <member kind="function">
      <type>MobilizedBodyIndex</type>
      <name>getCaseMobilizedBodyIndex</name>
      <anchorfile>classSimTK_1_1Constraint_1_1NoSlip1D.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>MobilizedBodyIndex</type>
      <name>getMovingBodyMobilizedBodyIndex</name>
      <anchorfile>classSimTK_1_1Constraint_1_1NoSlip1D.html</anchorfile>
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      <arglist>(int which) const</arglist>
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    <member kind="function">
      <type>const UnitVec3 &amp;</type>
      <name>getDefaultDirection</name>
      <anchorfile>classSimTK_1_1Constraint_1_1NoSlip1D.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getDefaultContactPoint</name>
      <anchorfile>classSimTK_1_1Constraint_1_1NoSlip1D.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>Real</type>
      <name>getVelocityError</name>
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      <arglist>(const State &amp;state) const</arglist>
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      <arglist>(const State &amp;) const</arglist>
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      <anchorfile>classSimTK_1_1Constraint_1_1NoSlip1D.html</anchorfile>
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      <arglist>(const State &amp;) const</arglist>
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      <type>Real</type>
      <name>getForceAtContactPoint</name>
      <anchorfile>classSimTK_1_1Constraint_1_1NoSlip1D.html</anchorfile>
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      <arglist>(const State &amp;) const</arglist>
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    <base>SimTK::Constraint</base>
    <member kind="function">
      <type></type>
      <name>PointInPlane</name>
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      <arglist>(MobilizedBody &amp;planeBody_B, const UnitVec3 &amp;defaultPlaneNormal_B, Real defaultHeight, MobilizedBody &amp;followerBody_F, const Vec3 &amp;defaultFollowerPoint_F)</arglist>
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    <member kind="function">
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      <arglist>()</arglist>
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    <member kind="function">
      <type>PointInPlane &amp;</type>
      <name>setPlaneDisplayHalfWidth</name>
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      <arglist>(Real)</arglist>
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    <member kind="function">
      <type>PointInPlane &amp;</type>
      <name>setPointDisplayRadius</name>
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      <arglist>(Real)</arglist>
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      <type>Real</type>
      <name>getPlaneDisplayHalfWidth</name>
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      <arglist>() const</arglist>
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      <type>Real</type>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>PointInPlane &amp;</type>
      <name>setDefaultPlaneNormal</name>
      <anchorfile>classSimTK_1_1Constraint_1_1PointInPlane.html</anchorfile>
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      <arglist>(const UnitVec3 &amp;)</arglist>
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      <type>PointInPlane &amp;</type>
      <name>setDefaultPlaneHeight</name>
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      <arglist>(Real)</arglist>
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    <member kind="function">
      <type>PointInPlane &amp;</type>
      <name>setDefaultFollowerPoint</name>
      <anchorfile>classSimTK_1_1Constraint_1_1PointInPlane.html</anchorfile>
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      <arglist>(const Vec3 &amp;)</arglist>
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    <member kind="function">
      <type>MobilizedBodyIndex</type>
      <name>getPlaneMobilizedBodyIndex</name>
      <anchorfile>classSimTK_1_1Constraint_1_1PointInPlane.html</anchorfile>
      <anchor>a216a24429a5670bb90c41cc31fa6bffb</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>MobilizedBodyIndex</type>
      <name>getFollowerMobilizedBodyIndex</name>
      <anchorfile>classSimTK_1_1Constraint_1_1PointInPlane.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>const UnitVec3 &amp;</type>
      <name>getDefaultPlaneNormal</name>
      <anchorfile>classSimTK_1_1Constraint_1_1PointInPlane.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>Real</type>
      <name>getDefaultPlaneHeight</name>
      <anchorfile>classSimTK_1_1Constraint_1_1PointInPlane.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getDefaultFollowerPoint</name>
      <anchorfile>classSimTK_1_1Constraint_1_1PointInPlane.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>const UnitVec3 &amp;</type>
      <name>getPlaneNormal</name>
      <anchorfile>classSimTK_1_1Constraint_1_1PointInPlane.html</anchorfile>
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      <arglist>(const State &amp;) const</arglist>
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      <type>Real</type>
      <name>getPlaneHeight</name>
      <anchorfile>classSimTK_1_1Constraint_1_1PointInPlane.html</anchorfile>
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      <arglist>(const State &amp;) const</arglist>
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    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getFollowerPoint</name>
      <anchorfile>classSimTK_1_1Constraint_1_1PointInPlane.html</anchorfile>
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      <arglist>(const State &amp;) const</arglist>
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      <type>Real</type>
      <name>getPositionError</name>
      <anchorfile>classSimTK_1_1Constraint_1_1PointInPlane.html</anchorfile>
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      <arglist>(const State &amp;) const</arglist>
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      <name>getVelocityError</name>
      <anchorfile>classSimTK_1_1Constraint_1_1PointInPlane.html</anchorfile>
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      <arglist>(const State &amp;) const</arglist>
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      <arglist>(const State &amp;) const</arglist>
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      <arglist>(const State &amp;) const</arglist>
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      <name>getForceOnFollowerPoint</name>
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      <arglist>(const State &amp;) const</arglist>
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    <base>SimTK::Constraint</base>
    <member kind="function">
      <type></type>
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      <anchorfile>classSimTK_1_1Constraint_1_1PointOnLine.html</anchorfile>
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      <arglist>(MobilizedBody &amp;lineBody_B, const UnitVec3 &amp;defaultLineDirection_B, const Vec3 &amp;defaultPointOnLine_B, MobilizedBody &amp;followerBody_F, const Vec3 &amp;defaultFollowerPoint_F)</arglist>
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    <member kind="function">
      <type></type>
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      <arglist>()</arglist>
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      <type>PointOnLine &amp;</type>
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      <anchorfile>classSimTK_1_1Constraint_1_1PointOnLine.html</anchorfile>
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      <arglist>(Real)</arglist>
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    <member kind="function">
      <type>PointOnLine &amp;</type>
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      <arglist>(State &amp;state, const Vec3 &amp;p_B2Q) const</arglist>
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      <arglist>(State &amp;state, Real rodLength) const</arglist>
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      <anchorfile>classSimTK_1_1Constraint_1_1Rod.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
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      <anchorfile>classSimTK_1_1Constraint_1_1Rod.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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      <name>getRodLength</name>
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      <arglist>(const State &amp;state) const</arglist>
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      <anchorfile>classSimTK_1_1Constraint_1_1Rod.html</anchorfile>
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      <anchorfile>classSimTK_1_1Constraint_1_1Rod.html</anchorfile>
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      <arglist>(const State &amp;) const</arglist>
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      <anchorfile>classSimTK_1_1Constraint_1_1Rod.html</anchorfile>
      <anchor>ac2b4807834605605d366b736170b32cc</anchor>
      <arglist>(const State &amp;) const</arglist>
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      <anchorfile>classSimTK_1_1Constraint_1_1Rod.html</anchorfile>
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      <arglist>(const State &amp;) const</arglist>
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      <name>getRodTension</name>
      <anchorfile>classSimTK_1_1Constraint_1_1Rod.html</anchorfile>
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      <arglist>(const State &amp;) const</arglist>
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    <member kind="function">
      <type>UnitVec3</type>
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      <anchorfile>classSimTK_1_1Constraint_1_1Rod.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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      <anchorfile>classSimTK_1_1Constraint_1_1Rod.html</anchorfile>
      <anchor>a343e2879b401ea92208a4bde077e467b</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <arglist>()</arglist>
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      <anchorfile>classSimTK_1_1Constraint_1_1Rod.html</anchorfile>
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      <anchorfile>classSimTK_1_1Constraint_1_1Rod.html</anchorfile>
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      <arglist>() const</arglist>
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      <arglist>(Real defaultRodLength)</arglist>
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      <anchorfile>classSimTK_1_1Constraint_1_1Rod.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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      <anchorfile>classSimTK_1_1Constraint_1_1Rod.html</anchorfile>
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      <arglist>(const State &amp;) const</arglist>
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      <arglist>(const State &amp;) const</arglist>
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      <anchorfile>classSimTK_1_1Constraint_1_1Rod.html</anchorfile>
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      <arglist>(const State &amp;) const</arglist>
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      <arglist>(const State &amp;) const</arglist>
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      <arglist>(const State &amp;state) const</arglist>
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      <anchorfile>classSimTK_1_1Constraint_1_1Rod.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(SimbodyMatterSubsystem &amp;matter, const Function *function, const std::vector&lt; MobilizedBodyIndex &gt; &amp;speedBody, const std::vector&lt; MobilizerUIndex &gt; &amp;speedIndex, const std::vector&lt; MobilizedBodyIndex &gt; &amp;coordBody, const std::vector&lt; MobilizerQIndex &gt; &amp;coordIndex)</arglist>
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      <arglist>(MobilizedBody &amp;planeMobod, const Transform &amp;defaultPlaneFrame, MobilizedBody &amp;sphereMobod, const Vec3 &amp;defaultSphereCenter, Real defaultSphereRadius, bool enforceRolling)</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(const Transform &amp;X_BA)</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>()</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(ContactId id, const Vec3 &amp;contactPt, const SpatialVec &amp;forceOnSurface2, Real potentialEnergy, Real powerLoss)</arglist>
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      <arglist>(ContactId id)</arglist>
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      <arglist>(const Vec3 &amp;contactPt)</arglist>
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      <arglist>(const SpatialVec &amp;forceOnSurface2)</arglist>
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      <arglist>(Real potentialEnergy)</arglist>
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      <arglist>(Real powerLoss)</arglist>
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      <arglist>(const Transform &amp;X_BA)</arglist>
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      <arglist>(ContactTypeId type)</arglist>
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      <arglist>(const CompliantContactSubsystem *sub)</arglist>
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      <arglist>()</arglist>
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      <arglist>(const State &amp;state, const Contact &amp;overlapping, const SpatialVec &amp;V_S1S2, ContactForce &amp;contactForce) const =0</arglist>
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      <arglist>(const State &amp;state, const Contact &amp;overlapping, const SpatialVec &amp;V_S1S2, ContactPatch &amp;patch) const override</arglist>
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      <arglist>(ContactTypeId type=ContactTypeId(0))</arglist>
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      <arglist>(const State &amp;state, const Contact &amp;overlapping, const SpatialVec &amp;V_S1S2, ContactPatch &amp;patch) const override</arglist>
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      <arglist>()</arglist>
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      <arglist>(const State &amp;state, const Contact &amp;overlapping, const SpatialVec &amp;V_S1S2, ContactForce &amp;contactForce) const override</arglist>
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      <anchorfile>classSimTK_1_1ContactForceGenerator_1_1ElasticFoundation.html</anchorfile>
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      <arglist>(const State &amp;state, const Contact &amp;overlapping, const SpatialVec &amp;V_S1S2, ContactPatch &amp;patch) const override</arglist>
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  <compound kind="class">
    <name>SimTK::ContactForceGenerator::HertzCircular</name>
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    <base>SimTK::ContactForceGenerator</base>
    <member kind="function">
      <type></type>
      <name>HertzCircular</name>
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      <arglist>()</arglist>
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      <arglist>(const State &amp;state, const Contact &amp;overlapping, const SpatialVec &amp;V_S1S2, ContactForce &amp;contactForce) const override</arglist>
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      <anchorfile>classSimTK_1_1ContactForceGenerator_1_1HertzCircular.html</anchorfile>
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      <arglist>(const State &amp;state, const Contact &amp;overlapping, const SpatialVec &amp;V_S1S2, ContactPatch &amp;patch) const override</arglist>
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  <compound kind="class">
    <name>SimTK::ContactForceGenerator::HertzElliptical</name>
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    <base>SimTK::ContactForceGenerator</base>
    <member kind="function">
      <type></type>
      <name>HertzElliptical</name>
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      <arglist>()</arglist>
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      <anchorfile>classSimTK_1_1ContactForceGenerator_1_1HertzElliptical.html</anchorfile>
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      <arglist>(const State &amp;state, const Contact &amp;overlapping, const SpatialVec &amp;V_S1S2, ContactForce &amp;contactForce) const override</arglist>
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    <member kind="function">
      <type>void</type>
      <name>calcContactPatch</name>
      <anchorfile>classSimTK_1_1ContactForceGenerator_1_1HertzElliptical.html</anchorfile>
      <anchor>a993952817928f671fecddef57e11107f</anchor>
      <arglist>(const State &amp;state, const Contact &amp;overlapping, const SpatialVec &amp;V_S1S2, ContactPatch &amp;patch) const override</arglist>
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  <compound kind="class">
    <name>SimTK::ContactForceGenerator::ThrowError</name>
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    <base>SimTK::ContactForceGenerator</base>
    <member kind="function">
      <type></type>
      <name>ThrowError</name>
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      <anchor>a965374d85ccf8e42bbaa373770fb1911</anchor>
      <arglist>(ContactTypeId type=ContactTypeId(0))</arglist>
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    <member kind="function">
      <type>void</type>
      <name>calcContactForce</name>
      <anchorfile>classSimTK_1_1ContactForceGenerator_1_1ThrowError.html</anchorfile>
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      <arglist>(const State &amp;state, const Contact &amp;overlapping, const SpatialVec &amp;V_S1S2, ContactForce &amp;contactForce) const override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcContactPatch</name>
      <anchorfile>classSimTK_1_1ContactForceGenerator_1_1ThrowError.html</anchorfile>
      <anchor>a48fe6fcb22910d3f63fc478c83e14513</anchor>
      <arglist>(const State &amp;state, const Contact &amp;overlapping, const SpatialVec &amp;V_S1S2, ContactPatch &amp;patch) const override</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::ContactGeometry</name>
    <filename>classSimTK_1_1ContactGeometry.html</filename>
    <class kind="class">SimTK::ContactGeometry::Brick</class>
    <class kind="class">SimTK::ContactGeometry::Cylinder</class>
    <class kind="class">SimTK::ContactGeometry::Ellipsoid</class>
    <class kind="class">SimTK::ContactGeometry::HalfSpace</class>
    <class kind="class">SimTK::ContactGeometry::SmoothHeightMap</class>
    <class kind="class">SimTK::ContactGeometry::Sphere</class>
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    <class kind="class">SimTK::ContactGeometry::TriangleMesh</class>
    <member kind="function">
      <type></type>
      <name>ContactGeometry</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a8fb7742035ba957d61c9e1b96379eb2c</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>ContactGeometry</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a8aa642e845dd9f30b956af41f9531dbf</anchor>
      <arglist>(const ContactGeometry &amp;src)</arglist>
    </member>
    <member kind="function">
      <type>ContactGeometry &amp;</type>
      <name>operator=</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
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      <arglist>(const ContactGeometry &amp;src)</arglist>
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    <member kind="function">
      <type></type>
      <name>~ContactGeometry</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a4b2f8d53493d9b837bc4663bb96bb25f</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>DecorativeGeometry</type>
      <name>createDecorativeGeometry</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a29a19393f98ce54aa06b2c7484345808</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findNearestPoint</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a4d7d72b5b0d0b2b534abafe1f7d63266</anchor>
      <arglist>(const Vec3 &amp;position, bool &amp;inside, UnitVec3 &amp;normal) const</arglist>
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    <member kind="function">
      <type>Vec3</type>
      <name>projectDownhillToNearestPoint</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a9804dd155c59290d7c06a0672eba9ccb</anchor>
      <arglist>(const Vec3 &amp;pointQ) const</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>trackSeparationFromLine</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a57f6290140efb148474bd35294ad34b6</anchor>
      <arglist>(const Vec3 &amp;pointOnLine, const UnitVec3 &amp;directionOfLine, const Vec3 &amp;startingGuessForClosestPoint, Vec3 &amp;newClosestPointOnSurface, Vec3 &amp;closestPointOnLine, Real &amp;height) const</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>intersectsRay</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a6b665e9ef6e190a88c13665a222e8ad5</anchor>
      <arglist>(const Vec3 &amp;origin, const UnitVec3 &amp;direction, Real &amp;distance, UnitVec3 &amp;normal) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>getBoundingSphere</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a1a7407d10f6c12ea2584ca9620c666c0</anchor>
      <arglist>(Vec3 &amp;center, Real &amp;radius) const</arglist>
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      <type>bool</type>
      <name>isSmooth</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a506ec4a215693e39d3225411c4b7a58d</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>calcCurvature</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a1dc5ef5f86ba50c0767b6e10249fc107</anchor>
      <arglist>(const Vec3 &amp;point, Vec2 &amp;curvature, Rotation &amp;orientation) const</arglist>
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    <member kind="function">
      <type>const Function &amp;</type>
      <name>getImplicitFunction</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a32c7cf706c65a63f56c0d5cd8c2b0b47</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>calcSurfaceValue</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>add690900c2e6be0482b133fe8ad8a921</anchor>
      <arglist>(const Vec3 &amp;point) const</arglist>
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    <member kind="function">
      <type>UnitVec3</type>
      <name>calcSurfaceUnitNormal</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a11a00c2b0e3dc15fdf4661b3cf41d064</anchor>
      <arglist>(const Vec3 &amp;point) const</arglist>
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    <member kind="function">
      <type>Vec3</type>
      <name>calcSurfaceGradient</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a44b950a7f4bafa6509425a0fb8a2ad29</anchor>
      <arglist>(const Vec3 &amp;point) const</arglist>
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    <member kind="function">
      <type>Mat33</type>
      <name>calcSurfaceHessian</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a7533a7ba51866683ef8c4d0b5678818b</anchor>
      <arglist>(const Vec3 &amp;point) const</arglist>
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      <type>Real</type>
      <name>calcGaussianCurvature</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a7a4ab9554de594636a6d6d15f96e5277</anchor>
      <arglist>(const Vec3 &amp;gradient, const Mat33 &amp;Hessian) const</arglist>
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      <type>Real</type>
      <name>calcGaussianCurvature</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a902cdbf3bd8aecf82958c61de9b17c91</anchor>
      <arglist>(const Vec3 &amp;point) const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>calcSurfaceCurvatureInDirection</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>ac516845833a62bc3fcad6619a54585a9</anchor>
      <arglist>(const Vec3 &amp;point, const UnitVec3 &amp;direction) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>calcSurfacePrincipalCurvatures</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>aac48cf8ac6a47aef3c70779f12c99004</anchor>
      <arglist>(const Vec3 &amp;point, Vec2 &amp;curvature, Rotation &amp;R_SP) const</arglist>
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      <type>bool</type>
      <name>isConvex</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a09f54e083249ea3cd0e2a91c68e74a4e</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>Vec3</type>
      <name>calcSupportPoint</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a756676e69c6fba68114b4f427c951a72</anchor>
      <arglist>(UnitVec3 direction) const</arglist>
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    <member kind="function">
      <type>ContactGeometryTypeId</type>
      <name>getTypeId</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>ae853e413043e89d59f19edcf903862ca</anchor>
      <arglist>() const</arglist>
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      <type></type>
      <name>ContactGeometry</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>ac648a4888974dc91db4c67ee3c21ef72</anchor>
      <arglist>(ContactGeometryImpl *impl)</arglist>
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      <type>bool</type>
      <name>isOwnerHandle</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>bool</type>
      <name>isEmptyHandle</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>bool</type>
      <name>hasImpl</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>const ContactGeometryImpl &amp;</type>
      <name>getImpl</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>ContactGeometryImpl &amp;</type>
      <name>updImpl</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>af1bbdd8a3d084c2030b29d9618b64a28</anchor>
      <arglist>()</arglist>
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      <type>void</type>
      <name>initGeodesic</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>af2a15eaf1f2184a1323e6661f63e6a34</anchor>
      <arglist>(const Vec3 &amp;xP, const Vec3 &amp;xQ, const Vec3 &amp;xSP, const GeodesicOptions &amp;options, Geodesic &amp;geod) const</arglist>
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      <type>void</type>
      <name>continueGeodesic</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a88a03a49e77241257d018405e30dcb49</anchor>
      <arglist>(const Vec3 &amp;xP, const Vec3 &amp;xQ, const Geodesic &amp;prevGeod, const GeodesicOptions &amp;options, Geodesic &amp;geod) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>makeStraightLineGeodesic</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a936a25de7017a330823f93104fb24859</anchor>
      <arglist>(const Vec3 &amp;xP, const Vec3 &amp;xQ, const UnitVec3 &amp;defaultDirectionIfNeeded, const GeodesicOptions &amp;options, Geodesic &amp;geod) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>shootGeodesicInDirectionUntilLengthReached</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a990b672c233d2437c421408a121da4c8</anchor>
      <arglist>(const Vec3 &amp;xP, const UnitVec3 &amp;tP, const Real &amp;terminatingLength, const GeodesicOptions &amp;options, Geodesic &amp;geod) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>calcGeodesicReverseSensitivity</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a2bad1de0db758a5bc13c5160951e66f5</anchor>
      <arglist>(Geodesic &amp;geodesic, const Vec2 &amp;initSensitivity=Vec2(0, 1)) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>shootGeodesicInDirectionUntilPlaneHit</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>ab46d2b533f1c69f6c9b4c5ea22371f27</anchor>
      <arglist>(const Vec3 &amp;xP, const UnitVec3 &amp;tP, const Plane &amp;terminatingPlane, const GeodesicOptions &amp;options, Geodesic &amp;geod) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>calcGeodesic</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a765c08e2a56fb38546efdb48f1cda079</anchor>
      <arglist>(const Vec3 &amp;xP, const Vec3 &amp;xQ, const Vec3 &amp;tPhint, const Vec3 &amp;tQhint, Geodesic &amp;geod) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>calcGeodesicUsingOrthogonalMethod</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a0b44f8a2e2daa2e09341ad3085ba4eae</anchor>
      <arglist>(const Vec3 &amp;xP, const Vec3 &amp;xQ, const Vec3 &amp;tPhint, Real lengthHint, Geodesic &amp;geod) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>calcGeodesicUsingOrthogonalMethod</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a01fdde7022416b8d88bc1735cab1e224</anchor>
      <arglist>(const Vec3 &amp;xP, const Vec3 &amp;xQ, Geodesic &amp;geod) const</arglist>
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    <member kind="function">
      <type>Vec2</type>
      <name>calcSplitGeodError</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a2d9af982b24f430502bac9c545c9abdc</anchor>
      <arglist>(const Vec3 &amp;P, const Vec3 &amp;Q, const UnitVec3 &amp;tP, const UnitVec3 &amp;tQ, Geodesic *geod=0) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>shootGeodesicInDirectionUntilLengthReachedAnalytical</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a754766a3425583c7e8342f7216ee6ce2</anchor>
      <arglist>(const Vec3 &amp;xP, const UnitVec3 &amp;tP, const Real &amp;terminatingLength, const GeodesicOptions &amp;options, Geodesic &amp;geod) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>shootGeodesicInDirectionUntilPlaneHitAnalytical</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a9f489bb3134725a7d1a9e584fb9da903</anchor>
      <arglist>(const Vec3 &amp;xP, const UnitVec3 &amp;tP, const Plane &amp;terminatingPlane, const GeodesicOptions &amp;options, Geodesic &amp;geod) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>calcGeodesicAnalytical</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a3c12e31eb56f265f70c682554c471649</anchor>
      <arglist>(const Vec3 &amp;xP, const Vec3 &amp;xQ, const Vec3 &amp;tPhint, const Vec3 &amp;tQhint, Geodesic &amp;geod) const</arglist>
    </member>
    <member kind="function">
      <type>Vec2</type>
      <name>calcSplitGeodErrorAnalytical</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a1393837d0460e675354885666fff43ea</anchor>
      <arglist>(const Vec3 &amp;P, const Vec3 &amp;Q, const UnitVec3 &amp;tP, const UnitVec3 &amp;tQ, Geodesic *geod=0) const</arglist>
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    <member kind="function">
      <type>const Plane &amp;</type>
      <name>getPlane</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>void</type>
      <name>setPlane</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a2b64dde0ca2dfcd094b0b6204f4a21b6</anchor>
      <arglist>(const Plane &amp;plane) const</arglist>
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      <type>const Geodesic &amp;</type>
      <name>getGeodP</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>aa25147aeb5d31211fbf031a0dac23132</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>const Geodesic &amp;</type>
      <name>getGeodQ</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>aecdaf2ca0c1905728867539f33765133</anchor>
      <arglist>() const</arglist>
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      <type>const int</type>
      <name>getNumGeodesicsShot</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a194ad90ea8cba0a176b5e0982d2b1997</anchor>
      <arglist>() const</arglist>
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      <type>void</type>
      <name>addVizReporter</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
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      <arglist>(ScheduledEventReporter *reporter) const</arglist>
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      <type>static Vec2</type>
      <name>evalParametricCurvature</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a990797bf74d949e5eb6fe6ccc02d56db</anchor>
      <arglist>(const Vec3 &amp;P, const UnitVec3 &amp;nn, const Vec3 &amp;dPdu, const Vec3 &amp;dPdv, const Vec3 &amp;d2Pdu2, const Vec3 &amp;d2Pdv2, const Vec3 &amp;d2Pdudv, Transform &amp;X_EP)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>combineParaboloids</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a7d96a97f8100e4a46194654f0bdf22d4</anchor>
      <arglist>(const Rotation &amp;R_SP1, const Vec2 &amp;k1, const UnitVec3 &amp;x2, const Vec2 &amp;k2, Rotation &amp;R_SP, Vec2 &amp;k)</arglist>
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      <type>static void</type>
      <name>combineParaboloids</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a15a0968761d422b1f0bf0045416fef16</anchor>
      <arglist>(const Rotation &amp;R_SP1, const Vec2 &amp;k1, const UnitVec3 &amp;x2, const Vec2 &amp;k2, Vec2 &amp;k)</arglist>
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    <member kind="variable" protection="protected">
      <type>ContactGeometryImpl *</type>
      <name>impl</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a03ff2fddea5008e383fa7588bb813837</anchor>
      <arglist></arglist>
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    <member kind="function">
      <type>void</type>
      <name>initGeodesic</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>af2a15eaf1f2184a1323e6661f63e6a34</anchor>
      <arglist>(const Vec3 &amp;xP, const Vec3 &amp;xQ, const Vec3 &amp;xSP, const GeodesicOptions &amp;options, Geodesic &amp;geod) const</arglist>
    </member>
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      <type>void</type>
      <name>continueGeodesic</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a88a03a49e77241257d018405e30dcb49</anchor>
      <arglist>(const Vec3 &amp;xP, const Vec3 &amp;xQ, const Geodesic &amp;prevGeod, const GeodesicOptions &amp;options, Geodesic &amp;geod) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>makeStraightLineGeodesic</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a936a25de7017a330823f93104fb24859</anchor>
      <arglist>(const Vec3 &amp;xP, const Vec3 &amp;xQ, const UnitVec3 &amp;defaultDirectionIfNeeded, const GeodesicOptions &amp;options, Geodesic &amp;geod) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>shootGeodesicInDirectionUntilLengthReached</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a990b672c233d2437c421408a121da4c8</anchor>
      <arglist>(const Vec3 &amp;xP, const UnitVec3 &amp;tP, const Real &amp;terminatingLength, const GeodesicOptions &amp;options, Geodesic &amp;geod) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcGeodesicReverseSensitivity</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a2bad1de0db758a5bc13c5160951e66f5</anchor>
      <arglist>(Geodesic &amp;geodesic, const Vec2 &amp;initSensitivity=Vec2(0, 1)) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>shootGeodesicInDirectionUntilPlaneHit</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>ab46d2b533f1c69f6c9b4c5ea22371f27</anchor>
      <arglist>(const Vec3 &amp;xP, const UnitVec3 &amp;tP, const Plane &amp;terminatingPlane, const GeodesicOptions &amp;options, Geodesic &amp;geod) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcGeodesic</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a765c08e2a56fb38546efdb48f1cda079</anchor>
      <arglist>(const Vec3 &amp;xP, const Vec3 &amp;xQ, const Vec3 &amp;tPhint, const Vec3 &amp;tQhint, Geodesic &amp;geod) const</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
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      <arglist>(const Vec3 &amp;xP, const Vec3 &amp;xQ, const Vec3 &amp;tPhint, Real lengthHint, Geodesic &amp;geod) const</arglist>
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      <arglist>(const Vec3 &amp;xP, const Vec3 &amp;xQ, Geodesic &amp;geod) const</arglist>
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      <arglist>(const Vec3 &amp;P, const Vec3 &amp;Q, const UnitVec3 &amp;tP, const UnitVec3 &amp;tQ, Geodesic *geod=0) const</arglist>
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      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
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      <arglist>(const Vec3 &amp;xP, const UnitVec3 &amp;tP, const Real &amp;terminatingLength, const GeodesicOptions &amp;options, Geodesic &amp;geod) const</arglist>
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      <arglist>(const Vec3 &amp;xP, const UnitVec3 &amp;tP, const Plane &amp;terminatingPlane, const GeodesicOptions &amp;options, Geodesic &amp;geod) const</arglist>
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      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
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      <arglist>(const Vec3 &amp;xP, const Vec3 &amp;xQ, const Vec3 &amp;tPhint, const Vec3 &amp;tQhint, Geodesic &amp;geod) const</arglist>
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      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
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      <arglist>(const Vec3 &amp;P, const Vec3 &amp;Q, const UnitVec3 &amp;tP, const UnitVec3 &amp;tQ, Geodesic *geod=0) const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <anchorfile>classSimTK_1_1ContactGeometry_1_1Brick.html</anchorfile>
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      <arglist>() const</arglist>
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      <arglist>()</arglist>
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      <arglist>(ContactGeometry &amp;geo)</arglist>
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      <arglist>()</arglist>
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      <arglist>(Real radius)</arglist>
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      <arglist>(Real radius)</arglist>
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      <arglist>() const</arglist>
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      <arglist>()</arglist>
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      <arglist>(const ContactGeometry &amp;geo)</arglist>
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      <arglist>(ContactGeometry &amp;geo)</arglist>
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      <arglist>()</arglist>
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      <arglist>() const</arglist>
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      <arglist>(const Vec3 &amp;P) const</arglist>
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      <arglist>(const Vec3 &amp;Q) const</arglist>
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      <arglist>(const Vec3 &amp;Q, Transform &amp;X_EP, Vec2 &amp;k) const</arglist>
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      <arglist>(const Vec3 &amp;Q, const UnitVec3 &amp;n, Transform &amp;X_EP, Vec2 &amp;k) const</arglist>
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      <arglist>() const</arglist>
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      <arglist>()</arglist>
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      <arglist>(const ContactGeometry &amp;geo)</arglist>
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      <arglist>(const ContactGeometry &amp;geo)</arglist>
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      <arglist>(ContactGeometry &amp;geo)</arglist>
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      <arglist>()</arglist>
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    <base>SimTK::ContactGeometry</base>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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    <base>SimTK::ContactGeometry</base>
    <member kind="function">
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      <arglist>(const BicubicSurface &amp;surface)</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(const ContactGeometry &amp;geo)</arglist>
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      <arglist>(const ContactGeometry &amp;geo)</arglist>
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      <arglist>(ContactGeometry &amp;geo)</arglist>
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      <arglist>()</arglist>
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    <base>SimTK::ContactGeometry</base>
    <member kind="function">
      <type></type>
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      <arglist>(Real radius)</arglist>
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      <type>Real</type>
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      <arglist>() const</arglist>
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      <arglist>(ContactSurfaceIndex surf1, ContactSurfaceIndex surf2) const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(ContactCliqueId clique)</arglist>
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      <arglist>(const ContactSurface &amp;other) const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(int index)</arglist>
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      <arglist>() const</arglist>
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      <arglist>()</arglist>
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      <arglist>(const Contact &amp;priorStatus, const Transform &amp;X_GS1, const ContactGeometry &amp;surface1, const Transform &amp;X_GS2, const ContactGeometry &amp;surface2, Real cutoff, Contact &amp;currentStatus) const override</arglist>
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      <arglist>(const Contact &amp;priorStatus, const Transform &amp;X_GS1, const ContactGeometry &amp;surface1, const Transform &amp;X_GS2, const ContactGeometry &amp;surface2, Real cutoff, Contact &amp;currentStatus) const override</arglist>
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    <base>SimTK::ContactTracker</base>
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      <arglist>()</arglist>
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      <arglist>(const Contact &amp;priorStatus, const Transform &amp;X_GS1, const ContactGeometry &amp;surface1, const Transform &amp;X_GS2, const ContactGeometry &amp;surface2, Real cutoff, Contact &amp;currentStatus) const override</arglist>
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    <base>SimTK::ContactTracker</base>
    <member kind="function">
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      <arglist>()</arglist>
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      <anchorfile>classSimTK_1_1ContactTracker_1_1HalfSpaceSphere.html</anchorfile>
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      <arglist>(const Contact &amp;priorStatus, const Transform &amp;X_GS1, const ContactGeometry &amp;surface1, const Transform &amp;X_GS2, const ContactGeometry &amp;surface2, Real cutoff, Contact &amp;currentStatus) const override</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::ContactTracker::HalfSpaceTriangleMesh</name>
    <filename>classSimTK_1_1ContactTracker_1_1HalfSpaceTriangleMesh.html</filename>
    <base>SimTK::ContactTracker</base>
    <member kind="function">
      <type></type>
      <name>HalfSpaceTriangleMesh</name>
      <anchorfile>classSimTK_1_1ContactTracker_1_1HalfSpaceTriangleMesh.html</anchorfile>
      <anchor>a7948c8176c7d027766bd2c56b833fcfc</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>trackContact</name>
      <anchorfile>classSimTK_1_1ContactTracker_1_1HalfSpaceTriangleMesh.html</anchorfile>
      <anchor>aa9917cd84a2c0612c0e63cf48f025099</anchor>
      <arglist>(const Contact &amp;priorStatus, const Transform &amp;X_GS1, const ContactGeometry &amp;surface1, const Transform &amp;X_GS2, const ContactGeometry &amp;surface2, Real cutoff, Contact &amp;currentStatus) const override</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::ContactTracker::SphereSphere</name>
    <filename>classSimTK_1_1ContactTracker_1_1SphereSphere.html</filename>
    <base>SimTK::ContactTracker</base>
    <member kind="function">
      <type></type>
      <name>SphereSphere</name>
      <anchorfile>classSimTK_1_1ContactTracker_1_1SphereSphere.html</anchorfile>
      <anchor>a8b28b05fbdfc5d6259dddfc78fee7b4b</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>trackContact</name>
      <anchorfile>classSimTK_1_1ContactTracker_1_1SphereSphere.html</anchorfile>
      <anchor>ace675021f98bc754255d0441d4ca39a2</anchor>
      <arglist>(const Contact &amp;priorStatus, const Transform &amp;X_GS1, const ContactGeometry &amp;surface1, const Transform &amp;X_GS2, const ContactGeometry &amp;surface2, Real cutoff, Contact &amp;currentStatus) const override</arglist>
    </member>
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  <compound kind="class">
    <name>SimTK::ContactTracker::SphereTriangleMesh</name>
    <filename>classSimTK_1_1ContactTracker_1_1SphereTriangleMesh.html</filename>
    <base>SimTK::ContactTracker</base>
    <member kind="function">
      <type></type>
      <name>SphereTriangleMesh</name>
      <anchorfile>classSimTK_1_1ContactTracker_1_1SphereTriangleMesh.html</anchorfile>
      <anchor>a4457d960e466a310f4504111b51214a9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>trackContact</name>
      <anchorfile>classSimTK_1_1ContactTracker_1_1SphereTriangleMesh.html</anchorfile>
      <anchor>a01a9db044112f7adfc18de669dc373af</anchor>
      <arglist>(const Contact &amp;priorStatus, const Transform &amp;X_GS1, const ContactGeometry &amp;surface1, const Transform &amp;X_GS2, const ContactGeometry &amp;surface2, Real cutoff, Contact &amp;currentStatus) const override</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::ContactTracker::TriangleMeshTriangleMesh</name>
    <filename>classSimTK_1_1ContactTracker_1_1TriangleMeshTriangleMesh.html</filename>
    <base>SimTK::ContactTracker</base>
    <member kind="function">
      <type></type>
      <name>TriangleMeshTriangleMesh</name>
      <anchorfile>classSimTK_1_1ContactTracker_1_1TriangleMeshTriangleMesh.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>trackContact</name>
      <anchorfile>classSimTK_1_1ContactTracker_1_1TriangleMeshTriangleMesh.html</anchorfile>
      <anchor>abdcdf5cf9ff61128def4e7a833525d3e</anchor>
      <arglist>(const Contact &amp;priorStatus, const Transform &amp;X_GS1, const ContactGeometry &amp;surface1, const Transform &amp;X_GS2, const ContactGeometry &amp;surface2, Real cutoff, Contact &amp;currentStatus) const override</arglist>
    </member>
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  <compound kind="class">
    <name>SimTK::ContactTrackerSubsystem</name>
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    <base>SimTK::Subsystem</base>
    <member kind="function">
      <type></type>
      <name>ContactTrackerSubsystem</name>
      <anchorfile>classSimTK_1_1ContactTrackerSubsystem.html</anchorfile>
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      <arglist>(MultibodySystem &amp;system)</arglist>
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    <member kind="function">
      <type></type>
      <name>SimTK_PIMPL_DOWNCAST</name>
      <anchorfile>classSimTK_1_1ContactTrackerSubsystem.html</anchorfile>
      <anchor>acc08e12722003b698ead7aa1822c6cf4</anchor>
      <arglist>(ContactTrackerSubsystem, Subsystem)</arglist>
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    <member kind="function">
      <type>const ContactSnapshot &amp;</type>
      <name>getActiveContacts</name>
      <anchorfile>classSimTK_1_1ContactTrackerSubsystem.html</anchorfile>
      <anchor>a7a5a6e878d26b287086d19ffa10d2487</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>const ContactSnapshot &amp;</type>
      <name>getPredictedContacts</name>
      <anchorfile>classSimTK_1_1ContactTrackerSubsystem.html</anchorfile>
      <anchor>a12a386673a390ceefe2c4fcb80b5728a</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getNumSurfaces</name>
      <anchorfile>classSimTK_1_1ContactTrackerSubsystem.html</anchorfile>
      <anchor>afe51bb3c3ea4dfbed7b08cf8dceae8ff</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>ContactSurfaceIndex</type>
      <name>getContactSurfaceIndex</name>
      <anchorfile>classSimTK_1_1ContactTrackerSubsystem.html</anchorfile>
      <anchor>aa1b06ff13276261e343098bc51c55d6a</anchor>
      <arglist>(MobilizedBodyIndex mobod, int contactSurfaceOrdinal) const</arglist>
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    <member kind="function">
      <type>const MobilizedBody &amp;</type>
      <name>getMobilizedBody</name>
      <anchorfile>classSimTK_1_1ContactTrackerSubsystem.html</anchorfile>
      <anchor>a6a7da608ab7910c8523ad89429dcdbac</anchor>
      <arglist>(ContactSurfaceIndex surfIx) const</arglist>
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    <member kind="function">
      <type>const ContactSurface &amp;</type>
      <name>getContactSurface</name>
      <anchorfile>classSimTK_1_1ContactTrackerSubsystem.html</anchorfile>
      <anchor>ab70d50d1c2694fcf92c8cddd000f187a</anchor>
      <arglist>(ContactSurfaceIndex surfIx) const</arglist>
    </member>
    <member kind="function">
      <type>const Transform &amp;</type>
      <name>getContactSurfaceTransform</name>
      <anchorfile>classSimTK_1_1ContactTrackerSubsystem.html</anchorfile>
      <anchor>abd8758fbf38e57c78669fd172ae699e2</anchor>
      <arglist>(ContactSurfaceIndex surfIx) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>adoptContactTracker</name>
      <anchorfile>classSimTK_1_1ContactTrackerSubsystem.html</anchorfile>
      <anchor>a04fa137a66419959c1b38f64e061adf5</anchor>
      <arglist>(ContactTracker *tracker)</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>hasContactTracker</name>
      <anchorfile>classSimTK_1_1ContactTrackerSubsystem.html</anchorfile>
      <anchor>a0af0925d95e3cdcfa77ac5fc84d1e2ac</anchor>
      <arglist>(ContactGeometryTypeId surface1, ContactGeometryTypeId surface2) const</arglist>
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    <member kind="function">
      <type>const ContactTracker &amp;</type>
      <name>getContactTracker</name>
      <anchorfile>classSimTK_1_1ContactTrackerSubsystem.html</anchorfile>
      <anchor>a90889b17fa3830c638dc5748219eef94</anchor>
      <arglist>(ContactGeometryTypeId surface1, ContactGeometryTypeId surface2, bool &amp;reverseOrder) const</arglist>
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    <member kind="function">
      <type>const ContactSnapshot &amp;</type>
      <name>getPreviousActiveContacts</name>
      <anchorfile>classSimTK_1_1ContactTrackerSubsystem.html</anchorfile>
      <anchor>aa8bb7b31cb27bc5717f47e2b233112b5</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>const ContactSnapshot &amp;</type>
      <name>getPreviousPredictedContacts</name>
      <anchorfile>classSimTK_1_1ContactTrackerSubsystem.html</anchorfile>
      <anchor>ac854587dea6b12435bfbdb5f147e34d2</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>realizeActiveContacts</name>
      <anchorfile>classSimTK_1_1ContactTrackerSubsystem.html</anchorfile>
      <anchor>af54d029e3d16edbc521d73e0ab61a857</anchor>
      <arglist>(const State &amp;state, bool lastTry, Real &amp;stepAdvice) const</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>realizePredictedContacts</name>
      <anchorfile>classSimTK_1_1ContactTrackerSubsystem.html</anchorfile>
      <anchor>af34ccb87682fb16f5552b345494de0ed</anchor>
      <arglist>(const State &amp;state, bool lastTry, Real &amp;stepAdvice) const</arglist>
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    <member kind="function">
      <type></type>
      <name>ContactTrackerSubsystem</name>
      <anchorfile>classSimTK_1_1ContactTrackerSubsystem.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>const ContactSnapshot &amp;</type>
      <name>getActiveContacts</name>
      <anchorfile>classSimTK_1_1ContactTrackerSubsystem.html</anchorfile>
      <anchor>a7a5a6e878d26b287086d19ffa10d2487</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>const ContactSnapshot &amp;</type>
      <name>getPredictedContacts</name>
      <anchorfile>classSimTK_1_1ContactTrackerSubsystem.html</anchorfile>
      <anchor>a12a386673a390ceefe2c4fcb80b5728a</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>int</type>
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      <anchorfile>classSimTK_1_1ContactTrackerSubsystem.html</anchorfile>
      <anchor>afe51bb3c3ea4dfbed7b08cf8dceae8ff</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>ContactSurfaceIndex</type>
      <name>getContactSurfaceIndex</name>
      <anchorfile>classSimTK_1_1ContactTrackerSubsystem.html</anchorfile>
      <anchor>aa1b06ff13276261e343098bc51c55d6a</anchor>
      <arglist>(MobilizedBodyIndex mobod, int contactSurfaceOrdinal) const</arglist>
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    <member kind="function">
      <type>const MobilizedBody &amp;</type>
      <name>getMobilizedBody</name>
      <anchorfile>classSimTK_1_1ContactTrackerSubsystem.html</anchorfile>
      <anchor>a6a7da608ab7910c8523ad89429dcdbac</anchor>
      <arglist>(ContactSurfaceIndex surfIx) const</arglist>
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    <member kind="function">
      <type>const ContactSurface &amp;</type>
      <name>getContactSurface</name>
      <anchorfile>classSimTK_1_1ContactTrackerSubsystem.html</anchorfile>
      <anchor>ab70d50d1c2694fcf92c8cddd000f187a</anchor>
      <arglist>(ContactSurfaceIndex surfIx) const</arglist>
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    <member kind="function">
      <type>const Transform &amp;</type>
      <name>getContactSurfaceTransform</name>
      <anchorfile>classSimTK_1_1ContactTrackerSubsystem.html</anchorfile>
      <anchor>abd8758fbf38e57c78669fd172ae699e2</anchor>
      <arglist>(ContactSurfaceIndex surfIx) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>adoptContactTracker</name>
      <anchorfile>classSimTK_1_1ContactTrackerSubsystem.html</anchorfile>
      <anchor>a04fa137a66419959c1b38f64e061adf5</anchor>
      <arglist>(ContactTracker *tracker)</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>hasContactTracker</name>
      <anchorfile>classSimTK_1_1ContactTrackerSubsystem.html</anchorfile>
      <anchor>a0af0925d95e3cdcfa77ac5fc84d1e2ac</anchor>
      <arglist>(ContactGeometryTypeId surface1, ContactGeometryTypeId surface2) const</arglist>
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    <member kind="function">
      <type>const ContactTracker &amp;</type>
      <name>getContactTracker</name>
      <anchorfile>classSimTK_1_1ContactTrackerSubsystem.html</anchorfile>
      <anchor>a90889b17fa3830c638dc5748219eef94</anchor>
      <arglist>(ContactGeometryTypeId surface1, ContactGeometryTypeId surface2, bool &amp;reverseOrder) const</arglist>
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    <member kind="function">
      <type>const ContactSnapshot &amp;</type>
      <name>getPreviousActiveContacts</name>
      <anchorfile>classSimTK_1_1ContactTrackerSubsystem.html</anchorfile>
      <anchor>aa8bb7b31cb27bc5717f47e2b233112b5</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>const ContactSnapshot &amp;</type>
      <name>getPreviousPredictedContacts</name>
      <anchorfile>classSimTK_1_1ContactTrackerSubsystem.html</anchorfile>
      <anchor>ac854587dea6b12435bfbdb5f147e34d2</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>bool</type>
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      <anchorfile>classSimTK_1_1ContactTrackerSubsystem.html</anchorfile>
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      <arglist>(const State &amp;state, bool lastTry, Real &amp;stepAdvice) const</arglist>
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      <type>bool</type>
      <name>realizePredictedContacts</name>
      <anchorfile>classSimTK_1_1ContactTrackerSubsystem.html</anchorfile>
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      <arglist>(const State &amp;state, bool lastTry, Real &amp;stepAdvice) const</arglist>
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      <type></type>
      <name>ContactTrackerSubsystem</name>
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      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>CoordinateAxis</name>
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      <arglist>(int i)</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(const CoordinateAxis &amp;axis2) const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(const CoordinateAxis &amp;axis2) const</arglist>
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      <arglist>(const CoordinateAxis &amp;axis2) const</arglist>
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      <arglist>(const CoordinateAxis &amp;axis2, const CoordinateAxis &amp;axis3) const</arglist>
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      <arglist>(const CoordinateAxis &amp;axis2, const CoordinateAxis &amp;axis3) const</arglist>
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      <arglist>(const CoordinateAxis &amp;axis2) const</arglist>
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      <arglist>(const CoordinateAxis &amp;axis2) const</arglist>
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      <arglist>(const CoordinateAxis &amp;axis2) const</arglist>
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      <arglist>(const CoordinateAxis &amp;axis2, int &amp;sign) const</arglist>
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      <arglist>(int i)</arglist>
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      <arglist>(int i)</arglist>
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      <arglist>(const CoordinateAxis &amp;a1, const CoordinateAxis &amp;a2)</arglist>
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      <arglist>(const CoordinateAxis &amp;a1, const CoordinateAxis &amp;a2)</arglist>
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      <type>const CoordinateDirection::NegXDirection &amp;</type>
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      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>DecorationSubsystem</name>
      <anchorfile>classSimTK_1_1DecorationSubsystem.html</anchorfile>
      <anchor>ab6a4a9a5e86d7a1fd008b163b4f91888</anchor>
      <arglist>(MultibodySystem &amp;)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>addBodyFixedDecoration</name>
      <anchorfile>classSimTK_1_1DecorationSubsystem.html</anchorfile>
      <anchor>a00214b2de1e94765f5a048ed8ccf1d5c</anchor>
      <arglist>(MobilizedBodyIndex bodyNum, const Transform &amp;X_GD, const DecorativeGeometry &amp;)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>addRubberBandLine</name>
      <anchorfile>classSimTK_1_1DecorationSubsystem.html</anchorfile>
      <anchor>a5522596e26b5444b70f4f44ac2073423</anchor>
      <arglist>(MobilizedBodyIndex b1, const Vec3 &amp;station1, MobilizedBodyIndex b2, const Vec3 &amp;station2, const DecorativeLine &amp;)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>addDecorationGenerator</name>
      <anchorfile>classSimTK_1_1DecorationSubsystem.html</anchorfile>
      <anchor>a430c978723a305b9ad3de67355c5bd03</anchor>
      <arglist>(Stage stage, DecorationGenerator *generator)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SimTK_PIMPL_DOWNCAST</name>
      <anchorfile>classSimTK_1_1DecorationSubsystem.html</anchorfile>
      <anchor>a60404e8e862c22962b5d295c0ccbacda</anchor>
      <arglist>(DecorationSubsystem, Subsystem)</arglist>
    </member>
    <member kind="function">
      <type>class DecorationSubsystemGuts &amp;</type>
      <name>updGuts</name>
      <anchorfile>classSimTK_1_1DecorationSubsystem.html</anchorfile>
      <anchor>a08a4ad9630c582755816ff01a8659af3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const DecorationSubsystemGuts &amp;</type>
      <name>getGuts</name>
      <anchorfile>classSimTK_1_1DecorationSubsystem.html</anchorfile>
      <anchor>ae56b5c1102d6b1e42f2797622c27d5fd</anchor>
      <arglist>() const</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::DecorativeArrow</name>
    <filename>classSimTK_1_1DecorativeArrow.html</filename>
    <base>SimTK::DecorativeGeometry</base>
    <member kind="function">
      <type></type>
      <name>DecorativeArrow</name>
      <anchorfile>classSimTK_1_1DecorativeArrow.html</anchorfile>
      <anchor>a29391bde06994afbdb20277f1fa07946</anchor>
      <arglist>(const Vec3 &amp;startPoint=Vec3(0), const Vec3 &amp;endPoint=Vec3(1), Real tipLength=0.35)</arglist>
    </member>
    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getStartPoint</name>
      <anchorfile>classSimTK_1_1DecorativeArrow.html</anchorfile>
      <anchor>a92ad5ccd583216971018d9b3bf07e20f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getEndPoint</name>
      <anchorfile>classSimTK_1_1DecorativeArrow.html</anchorfile>
      <anchor>a0014509ffa35b28a1dd4969e5331fb90</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Real &amp;</type>
      <name>getTipLength</name>
      <anchorfile>classSimTK_1_1DecorativeArrow.html</anchorfile>
      <anchor>af9ff82e602e2cce8b8be5702406439be</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DecorativeArrow &amp;</type>
      <name>setStartPoint</name>
      <anchorfile>classSimTK_1_1DecorativeArrow.html</anchorfile>
      <anchor>a7c2ca44ee30942b819a1181eedf974cc</anchor>
      <arglist>(const Vec3 &amp;start)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeArrow &amp;</type>
      <name>setEndPoint</name>
      <anchorfile>classSimTK_1_1DecorativeArrow.html</anchorfile>
      <anchor>aadace671aaeea1980beb9170f8ace7b2</anchor>
      <arglist>(const Vec3 &amp;end)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeArrow &amp;</type>
      <name>setTipLength</name>
      <anchorfile>classSimTK_1_1DecorativeArrow.html</anchorfile>
      <anchor>a16b32f7337ae7eabe3c76ebfc2b7a276</anchor>
      <arglist>(Real)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeArrow &amp;</type>
      <name>setBodyId</name>
      <anchorfile>classSimTK_1_1DecorativeArrow.html</anchorfile>
      <anchor>a912d678302b07beb1b3f68465e8d3fa0</anchor>
      <arglist>(int b)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeArrow &amp;</type>
      <name>setIndexOnBody</name>
      <anchorfile>classSimTK_1_1DecorativeArrow.html</anchorfile>
      <anchor>a821d627e3a8ecd23de096d3af1c4a223</anchor>
      <arglist>(int x)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeArrow &amp;</type>
      <name>setUserRef</name>
      <anchorfile>classSimTK_1_1DecorativeArrow.html</anchorfile>
      <anchor>a49dd7f5432e50e22e002adc8bfd68304</anchor>
      <arglist>(void *p)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeArrow &amp;</type>
      <name>setTransform</name>
      <anchorfile>classSimTK_1_1DecorativeArrow.html</anchorfile>
      <anchor>a23b80637bc200f9eb4fcb8d3a77e2354</anchor>
      <arglist>(const Transform &amp;X_BD)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeArrow &amp;</type>
      <name>setResolution</name>
      <anchorfile>classSimTK_1_1DecorativeArrow.html</anchorfile>
      <anchor>a514c9a036826b50f0b50eb418bfcbe22</anchor>
      <arglist>(Real r)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeArrow &amp;</type>
      <name>setScaleFactors</name>
      <anchorfile>classSimTK_1_1DecorativeArrow.html</anchorfile>
      <anchor>a542dfbe158b8b57f9260e1f591610273</anchor>
      <arglist>(const Vec3 &amp;s)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeArrow &amp;</type>
      <name>setColor</name>
      <anchorfile>classSimTK_1_1DecorativeArrow.html</anchorfile>
      <anchor>a9ac12220897cb13877334c9691c77828</anchor>
      <arglist>(const Vec3 &amp;rgb)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeArrow &amp;</type>
      <name>setOpacity</name>
      <anchorfile>classSimTK_1_1DecorativeArrow.html</anchorfile>
      <anchor>aab31d618d9058e297dd58886dc90daba</anchor>
      <arglist>(Real o)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeArrow &amp;</type>
      <name>setLineThickness</name>
      <anchorfile>classSimTK_1_1DecorativeArrow.html</anchorfile>
      <anchor>a4c7a3840673ffed8359629d8951f601c</anchor>
      <arglist>(Real t)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeArrow &amp;</type>
      <name>setRepresentation</name>
      <anchorfile>classSimTK_1_1DecorativeArrow.html</anchorfile>
      <anchor>a037a3f31717a597bd80a9299c088660d</anchor>
      <arglist>(const Representation &amp;r)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SimTK_PIMPL_DOWNCAST</name>
      <anchorfile>classSimTK_1_1DecorativeArrow.html</anchorfile>
      <anchor>a33ce1c089adbd2aba8a3775fd7b01a48</anchor>
      <arglist>(DecorativeArrow, DecorativeGeometry)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::DecorativeBrick</name>
    <filename>classSimTK_1_1DecorativeBrick.html</filename>
    <base>SimTK::DecorativeGeometry</base>
    <member kind="function">
      <type></type>
      <name>DecorativeBrick</name>
      <anchorfile>classSimTK_1_1DecorativeBrick.html</anchorfile>
      <anchor>a4a1d83335e3f878bed76d7a933cb2216</anchor>
      <arglist>(const Vec3 &amp;halfLengths=Vec3(Real(0.5)))</arglist>
    </member>
    <member kind="function">
      <type>DecorativeBrick &amp;</type>
      <name>setHalfLengths</name>
      <anchorfile>classSimTK_1_1DecorativeBrick.html</anchorfile>
      <anchor>af5d00ed1af0ea3e71b545bfcc10595e5</anchor>
      <arglist>(const Vec3 &amp;)</arglist>
    </member>
    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getHalfLengths</name>
      <anchorfile>classSimTK_1_1DecorativeBrick.html</anchorfile>
      <anchor>ab27107a4f70fb3db3f9f6e670bd758eb</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DecorativeBrick &amp;</type>
      <name>setBodyId</name>
      <anchorfile>classSimTK_1_1DecorativeBrick.html</anchorfile>
      <anchor>ae7524051729e6059bb7ac5ffab83f483</anchor>
      <arglist>(int b)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeBrick &amp;</type>
      <name>setIndexOnBody</name>
      <anchorfile>classSimTK_1_1DecorativeBrick.html</anchorfile>
      <anchor>ac28635a58c38655e4a26125e6cc85878</anchor>
      <arglist>(int x)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeBrick &amp;</type>
      <name>setUserRef</name>
      <anchorfile>classSimTK_1_1DecorativeBrick.html</anchorfile>
      <anchor>a595de6b074a146f7f92577f419f200a3</anchor>
      <arglist>(void *p)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeBrick &amp;</type>
      <name>setTransform</name>
      <anchorfile>classSimTK_1_1DecorativeBrick.html</anchorfile>
      <anchor>aab8683d29fa28207b89bcdbbece31ea1</anchor>
      <arglist>(const Transform &amp;X_BD)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeBrick &amp;</type>
      <name>setResolution</name>
      <anchorfile>classSimTK_1_1DecorativeBrick.html</anchorfile>
      <anchor>a7aba881c76bc1d6431b8d76b34d3471e</anchor>
      <arglist>(Real r)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeBrick &amp;</type>
      <name>setScaleFactors</name>
      <anchorfile>classSimTK_1_1DecorativeBrick.html</anchorfile>
      <anchor>ab086dbed13d8da8a9c7e63408d1ad203</anchor>
      <arglist>(const Vec3 &amp;s)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeBrick &amp;</type>
      <name>setColor</name>
      <anchorfile>classSimTK_1_1DecorativeBrick.html</anchorfile>
      <anchor>a0d4e85ad4aafa48c60f6725d5b8e6d73</anchor>
      <arglist>(const Vec3 &amp;rgb)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeBrick &amp;</type>
      <name>setOpacity</name>
      <anchorfile>classSimTK_1_1DecorativeBrick.html</anchorfile>
      <anchor>a02a84e39af1b9e1a9a16392884f6dd62</anchor>
      <arglist>(Real o)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeBrick &amp;</type>
      <name>setLineThickness</name>
      <anchorfile>classSimTK_1_1DecorativeBrick.html</anchorfile>
      <anchor>aeb32c88abb8d869a2cb04160d6d64dbe</anchor>
      <arglist>(Real t)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeBrick &amp;</type>
      <name>setRepresentation</name>
      <anchorfile>classSimTK_1_1DecorativeBrick.html</anchorfile>
      <anchor>a9009a65158c47f00c09bd59553a88602</anchor>
      <arglist>(const Representation &amp;r)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SimTK_PIMPL_DOWNCAST</name>
      <anchorfile>classSimTK_1_1DecorativeBrick.html</anchorfile>
      <anchor>a993781de21c8ba3452a6944330b9e27d</anchor>
      <arglist>(DecorativeBrick, DecorativeGeometry)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::DecorativeCircle</name>
    <filename>classSimTK_1_1DecorativeCircle.html</filename>
    <base>SimTK::DecorativeGeometry</base>
    <member kind="function">
      <type></type>
      <name>DecorativeCircle</name>
      <anchorfile>classSimTK_1_1DecorativeCircle.html</anchorfile>
      <anchor>a5a3f77de50d3ee45ff7da7affc26c70c</anchor>
      <arglist>(Real radius=0.5)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeCircle &amp;</type>
      <name>setRadius</name>
      <anchorfile>classSimTK_1_1DecorativeCircle.html</anchorfile>
      <anchor>a2ac506f43121e3ffd202c7140c167802</anchor>
      <arglist>(Real)</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getRadius</name>
      <anchorfile>classSimTK_1_1DecorativeCircle.html</anchorfile>
      <anchor>aa6a0fe6cdd6d43f85cd07a29c892c1f5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DecorativeCircle &amp;</type>
      <name>setBodyId</name>
      <anchorfile>classSimTK_1_1DecorativeCircle.html</anchorfile>
      <anchor>ab3cb49a0d7ea9fddc911428327b5bc43</anchor>
      <arglist>(int b)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeCircle &amp;</type>
      <name>setIndexOnBody</name>
      <anchorfile>classSimTK_1_1DecorativeCircle.html</anchorfile>
      <anchor>a655036bdc023cf705ece3c68339c983b</anchor>
      <arglist>(int x)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeCircle &amp;</type>
      <name>setUserRef</name>
      <anchorfile>classSimTK_1_1DecorativeCircle.html</anchorfile>
      <anchor>a1c9b0dabd35748fa2c23cc6ad7ec79e3</anchor>
      <arglist>(void *p)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeCircle &amp;</type>
      <name>setTransform</name>
      <anchorfile>classSimTK_1_1DecorativeCircle.html</anchorfile>
      <anchor>a107efe7190c712871db7597f9b578d70</anchor>
      <arglist>(const Transform &amp;X_BD)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeCircle &amp;</type>
      <name>setResolution</name>
      <anchorfile>classSimTK_1_1DecorativeCircle.html</anchorfile>
      <anchor>a452ac20e475efe9012c2975f87773e1f</anchor>
      <arglist>(Real r)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeCircle &amp;</type>
      <name>setScaleFactors</name>
      <anchorfile>classSimTK_1_1DecorativeCircle.html</anchorfile>
      <anchor>a7f7edeee4a8199c974e4f3112683d8fa</anchor>
      <arglist>(const Vec3 &amp;s)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeCircle &amp;</type>
      <name>setColor</name>
      <anchorfile>classSimTK_1_1DecorativeCircle.html</anchorfile>
      <anchor>acaa0fa365a2b8bc11ad151cf30e4e021</anchor>
      <arglist>(const Vec3 &amp;rgb)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeCircle &amp;</type>
      <name>setOpacity</name>
      <anchorfile>classSimTK_1_1DecorativeCircle.html</anchorfile>
      <anchor>a9efd20822bd897b0e5ab68a35290de18</anchor>
      <arglist>(Real o)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeCircle &amp;</type>
      <name>setLineThickness</name>
      <anchorfile>classSimTK_1_1DecorativeCircle.html</anchorfile>
      <anchor>afe83a0f1ca7c9c12b396a7023dea3591</anchor>
      <arglist>(Real t)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeCircle &amp;</type>
      <name>setRepresentation</name>
      <anchorfile>classSimTK_1_1DecorativeCircle.html</anchorfile>
      <anchor>ad49b482c2f8220e175d7e1d65fc017e2</anchor>
      <arglist>(const Representation &amp;r)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SimTK_PIMPL_DOWNCAST</name>
      <anchorfile>classSimTK_1_1DecorativeCircle.html</anchorfile>
      <anchor>adbf92317612200ad445bea49f4caaaa2</anchor>
      <arglist>(DecorativeCircle, DecorativeGeometry)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::DecorativeCone</name>
    <filename>classSimTK_1_1DecorativeCone.html</filename>
    <base>SimTK::DecorativeGeometry</base>
    <member kind="function">
      <type></type>
      <name>DecorativeCone</name>
      <anchorfile>classSimTK_1_1DecorativeCone.html</anchorfile>
      <anchor>ae46cc58bae009a399bf22a35f43a45df</anchor>
      <arglist>(const Vec3 &amp;p1=Vec3(0), const UnitVec3 &amp;dir=UnitVec3(1, 1, 1), Real height=1.0, Real baseRadius=0.5)</arglist>
    </member>
    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getOrigin</name>
      <anchorfile>classSimTK_1_1DecorativeCone.html</anchorfile>
      <anchor>a2ea98a59418debcb0a520b3d80d615e7</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const UnitVec3 &amp;</type>
      <name>getDirection</name>
      <anchorfile>classSimTK_1_1DecorativeCone.html</anchorfile>
      <anchor>a6e2ab82e3da14ce87f8822c7506efae8</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Real &amp;</type>
      <name>getHeight</name>
      <anchorfile>classSimTK_1_1DecorativeCone.html</anchorfile>
      <anchor>ae054a6e4ff7883876210fa2c341e399c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Real &amp;</type>
      <name>getBaseRadius</name>
      <anchorfile>classSimTK_1_1DecorativeCone.html</anchorfile>
      <anchor>ac9c4fe849b75f08b3111a9f29d6b4073</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>DecorativeCone &amp;</type>
      <name>setOrigin</name>
      <anchorfile>classSimTK_1_1DecorativeCone.html</anchorfile>
      <anchor>a8f526555cba2d4f61316b46aeaab5df9</anchor>
      <arglist>(const Vec3 &amp;origin)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeCone &amp;</type>
      <name>setDirection</name>
      <anchorfile>classSimTK_1_1DecorativeCone.html</anchorfile>
      <anchor>a3b639f59e2a6efb88af53d858c7d82ae</anchor>
      <arglist>(const UnitVec3 &amp;direction)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeCone &amp;</type>
      <name>setHeight</name>
      <anchorfile>classSimTK_1_1DecorativeCone.html</anchorfile>
      <anchor>aef2789d03ce41b942c00a0a5ac46c15b</anchor>
      <arglist>(Real length)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeCone &amp;</type>
      <name>setBaseRadius</name>
      <anchorfile>classSimTK_1_1DecorativeCone.html</anchorfile>
      <anchor>accb762b5c770466633ea709aab36416d</anchor>
      <arglist>(Real base)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeCone &amp;</type>
      <name>setBodyId</name>
      <anchorfile>classSimTK_1_1DecorativeCone.html</anchorfile>
      <anchor>afa8300b7b4dc8dcec77791d82ffebc3d</anchor>
      <arglist>(int b)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeCone &amp;</type>
      <name>setIndexOnBody</name>
      <anchorfile>classSimTK_1_1DecorativeCone.html</anchorfile>
      <anchor>a05ad2c97641400e5a90f09824b0fcace</anchor>
      <arglist>(int x)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeCone &amp;</type>
      <name>setUserRef</name>
      <anchorfile>classSimTK_1_1DecorativeCone.html</anchorfile>
      <anchor>a2fbdaa059c5fc4e29b443862f0e2714c</anchor>
      <arglist>(void *p)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeCone &amp;</type>
      <name>setTransform</name>
      <anchorfile>classSimTK_1_1DecorativeCone.html</anchorfile>
      <anchor>ab70f38ba56d1159ce202530e7f90daae</anchor>
      <arglist>(const Transform &amp;X_BD)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeCone &amp;</type>
      <name>setResolution</name>
      <anchorfile>classSimTK_1_1DecorativeCone.html</anchorfile>
      <anchor>a226480b1caf6999656b29f1e23cad538</anchor>
      <arglist>(Real r)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeCone &amp;</type>
      <name>setScaleFactors</name>
      <anchorfile>classSimTK_1_1DecorativeCone.html</anchorfile>
      <anchor>ad88be1fb65cfa92bf9f4885092a7c629</anchor>
      <arglist>(const Vec3 &amp;s)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeCone &amp;</type>
      <name>setColor</name>
      <anchorfile>classSimTK_1_1DecorativeCone.html</anchorfile>
      <anchor>abb8a5c9347294da86e6df17da1b3c2be</anchor>
      <arglist>(const Vec3 &amp;rgb)</arglist>
    </member>
    <member kind="function">
      <type>DecorativeCone &amp;</type>
      <name>setOpacity</name>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(const Vec3 &amp;rgb)</arglist>
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      <arglist>(Real)</arglist>
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      <arglist>() const</arglist>
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      <arglist>(Real r)</arglist>
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      <arglist>(Real o)</arglist>
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      <arglist>(int b)</arglist>
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      <arglist>(int x)</arglist>
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      <arglist>(void *p)</arglist>
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      <arglist>(const Transform &amp;X_BD)</arglist>
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      <arglist>(Real r)</arglist>
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      <arglist>(const Vec3 &amp;s)</arglist>
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      <arglist>(const Vec3 &amp;rgb)</arglist>
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      <arglist>(Real o)</arglist>
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      <arglist>(Real t)</arglist>
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      <arglist>(const Representation &amp;r)</arglist>
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      <arglist>(DecorativeMeshFile, DecorativeGeometry)</arglist>
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      <arglist>(const Vec3 &amp;p=Vec3(0))</arglist>
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      <arglist>(const Vec3 &amp;p)</arglist>
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      <arglist>() const</arglist>
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      <arglist>(int b)</arglist>
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      <arglist>(int x)</arglist>
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      <arglist>(void *p)</arglist>
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      <arglist>(const Transform &amp;X_BD)</arglist>
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      <arglist>(Real r)</arglist>
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      <arglist>(const Vec3 &amp;s)</arglist>
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      <arglist>(const Vec3 &amp;rgb)</arglist>
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      <arglist>(Real o)</arglist>
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      <arglist>(Real t)</arglist>
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      <arglist>(const Representation &amp;r)</arglist>
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      <arglist>(DecorativePoint, DecorativeGeometry)</arglist>
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      <arglist>(Real radius=0.5)</arglist>
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      <arglist>(Real)</arglist>
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      <arglist>() const</arglist>
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      <arglist>(int b)</arglist>
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      <arglist>(int x)</arglist>
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      <arglist>(void *p)</arglist>
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      <arglist>(const Transform &amp;X_BD)</arglist>
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      <arglist>(Real r)</arglist>
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      <arglist>(const Vec3 &amp;s)</arglist>
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      <arglist>(const Vec3 &amp;rgb)</arglist>
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      <arglist>(Real o)</arglist>
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      <arglist>(Real t)</arglist>
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      <arglist>(const Representation &amp;r)</arglist>
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      <arglist>(DecorativeSphere, DecorativeGeometry)</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(void *p)</arglist>
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      <arglist>(const Transform &amp;X_BD)</arglist>
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      <arglist>(Real r)</arglist>
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      <arglist>(const Vec3 &amp;s)</arglist>
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      <arglist>(const Vec3 &amp;rgb)</arglist>
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      <arglist>(Real o)</arglist>
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      <arglist>(Real t)</arglist>
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      <arglist>(int yn)</arglist>
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      <arglist>(const Representation &amp;r)</arglist>
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      <arglist>(DecorativeText, DecorativeGeometry)</arglist>
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      <arglist>(Real torusR=1, Real tubeR=0.1)</arglist>
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      <arglist>(Real)</arglist>
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      <arglist>(Real)</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(int b)</arglist>
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      <arglist>(int x)</arglist>
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      <arglist>(void *p)</arglist>
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      <arglist>(const Transform &amp;X_BD)</arglist>
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      <arglist>(Real r)</arglist>
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      <arglist>(const Vec3 &amp;s)</arglist>
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      <arglist>(const Vec3 &amp;rgb)</arglist>
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      <arglist>(Real o)</arglist>
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      <arglist>(Real t)</arglist>
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      <arglist>(const Representation &amp;r)</arglist>
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      <arglist>(Vector_&lt; T &gt; &amp;values, int ilow, int ihi)</arglist>
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      <arglist></arglist>
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      <arglist>(Real v)</arglist>
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      <arglist>(Contact &amp;contact)</arglist>
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      <arglist>()</arglist>
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      <arglist>(Vector_&lt; typename CNT&lt; T &gt;::TReal &gt; &amp;values, Matrix_&lt; T &gt; &amp;leftVectors, Matrix_&lt; T &gt; &amp;rightVectors)</arglist>
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      <arglist></arglist>
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      <arglist>(GeneralForceSubsystem &amp;forces, const SimbodyMatterSubsystem &amp;matter)</arglist>
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      <arglist>(State &amp;state) const</arglist>
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      <arglist>(State &amp;state) const</arglist>
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      <anchor>a8eb8f7a66610230c02df56724cb6fd80</anchor>
      <arglist>(State &amp;state, const MobilizedBody &amp;mobod, MobilizerUIndex whichU, Real force) const</arglist>
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      <arglist>(State &amp;state, const MobilizedBody &amp;mobod, const SpatialVec &amp;spatialForceInG) const</arglist>
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      <arglist>(State &amp;state, const Vector &amp;f) const</arglist>
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      <arglist>(State &amp;state, const Vector_&lt; SpatialVec &gt; &amp;bodyForcesInG) const</arglist>
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      <name>getOneMobilityForce</name>
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      <arglist>(const State &amp;state, const MobilizedBody &amp;mobod, MobilizerUIndex whichU) const</arglist>
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      <arglist>(const State &amp;state, const MobilizedBody &amp;mobod) const</arglist>
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      <name>getAllMobilityForces</name>
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      <arglist>(const State &amp;state) const</arglist>
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      <name>getAllBodyForces</name>
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      <arglist>(const State &amp;state) const</arglist>
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      <arglist>(GeneralForceSubsystem &amp;forces, const SimbodyMatterSubsystem &amp;matter, Real damping)</arglist>
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      <arglist>()</arglist>
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      <anchorfile>classSimTK_1_1Force_1_1GlobalDamper.html</anchorfile>
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      <arglist>(GlobalDamper, GlobalDamperImpl, Force)</arglist>
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  <compound kind="class">
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    <filename>classSimTK_1_1Force_1_1Gravity.html</filename>
    <base>SimTK::Force</base>
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      <type></type>
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      <arglist>(GeneralForceSubsystem &amp;forces, const SimbodyMatterSubsystem &amp;matter, const UnitVec3 &amp;down, Real g, Real zeroHeight=0)</arglist>
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      <arglist>(GeneralForceSubsystem &amp;forces, const SimbodyMatterSubsystem &amp;matter, const Vec3 &amp;gravity)</arglist>
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      <arglist>(GeneralForceSubsystem &amp;forces, const SimbodyMatterSubsystem &amp;matter, Real g)</arglist>
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      <arglist>()</arglist>
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      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
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      <arglist>(MobilizedBodyIndex mobod, bool isExcluded)</arglist>
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    <member kind="function">
      <type>Gravity &amp;</type>
      <name>setDefaultGravityVector</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
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      <arglist>(const Vec3 &amp;gravity)</arglist>
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      <type>Gravity &amp;</type>
      <name>setDefaultDownDirection</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
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      <arglist>(const UnitVec3 &amp;down)</arglist>
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      <type>Gravity &amp;</type>
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      <arglist>(const Vec3 &amp;down)</arglist>
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      <name>setDefaultMagnitude</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
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      <arglist>(Real g)</arglist>
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      <name>setDefaultZeroHeight</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
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      <arglist>(Real zeroHeight)</arglist>
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      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
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      <arglist>(MobilizedBodyIndex mobod) const</arglist>
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      <type>Vec3</type>
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      <arglist>() const</arglist>
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      <type>const UnitVec3 &amp;</type>
      <name>getDefaultDownDirection</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>Real</type>
      <name>getDefaultMagnitude</name>
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      <arglist>() const</arglist>
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      <type>Real</type>
      <name>getDefaultZeroHeight</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>ac28a77641c738637ad6900517fd00854</anchor>
      <arglist>() const</arglist>
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      <type>const Gravity &amp;</type>
      <name>setBodyIsExcluded</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
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      <arglist>(State &amp;state, MobilizedBodyIndex mobod, bool isExcluded) const</arglist>
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      <name>setGravityVector</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
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      <arglist>(State &amp;state, const Vec3 &amp;gravity) const</arglist>
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      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
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      <arglist>(State &amp;state, const UnitVec3 &amp;down) const</arglist>
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      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
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      <arglist>(State &amp;state, const Vec3 &amp;down) const</arglist>
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      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
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      <arglist>(State &amp;state, Real g) const</arglist>
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      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
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      <arglist>(State &amp;state, Real hz) const</arglist>
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      <type>bool</type>
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      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
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      <arglist>(const State &amp;state, MobilizedBodyIndex mobod) const</arglist>
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      <type>Vec3</type>
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      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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      <arglist>(const State &amp;state) const</arglist>
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      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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      <name>getPotentialEnergy</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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      <name>getBodyForces</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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      <arglist>(const State &amp;state, MobilizedBodyIndex mobod) const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(const State &amp;state) const</arglist>
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      <arglist>(const State &amp;state) const</arglist>
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      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>afe20f061c70cab5ed8f8ee1476c27003</anchor>
      <arglist>(GeneralForceSubsystem &amp;forces, const SimbodyMatterSubsystem &amp;matter, const UnitVec3 &amp;down, Real g, Real zeroHeight=0)</arglist>
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      <type></type>
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      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>afa037b590c3fadf1c5f2a32a484d1243</anchor>
      <arglist>(GeneralForceSubsystem &amp;forces, const SimbodyMatterSubsystem &amp;matter, const Vec3 &amp;gravity)</arglist>
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      <anchor>a2ec3ea5d25cfd80c1d2a119b04269e1a</anchor>
      <arglist>(GeneralForceSubsystem &amp;forces, const SimbodyMatterSubsystem &amp;matter, Real g)</arglist>
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      <arglist>()</arglist>
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      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
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      <arglist>(MobilizedBodyIndex mobod, bool isExcluded)</arglist>
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      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
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      <arglist>(const Vec3 &amp;gravity)</arglist>
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      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
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      <arglist>(const UnitVec3 &amp;down)</arglist>
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      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
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      <arglist>(const Vec3 &amp;down)</arglist>
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      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
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      <arglist>(Real g)</arglist>
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      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
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      <arglist>(Real zeroHeight)</arglist>
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      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>a33e6150d86fc788107baf39f02d9ebfb</anchor>
      <arglist>(MobilizedBodyIndex mobod) const</arglist>
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      <type>Vec3</type>
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      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
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      <arglist>() const</arglist>
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      <name>getDefaultDownDirection</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
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      <arglist>() const</arglist>
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      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
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      <arglist>() const</arglist>
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      <name>getDefaultZeroHeight</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>ac28a77641c738637ad6900517fd00854</anchor>
      <arglist>() const</arglist>
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      <name>setBodyIsExcluded</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>a09feb5b4e0948a0fe6ee29b50f04526d</anchor>
      <arglist>(State &amp;state, MobilizedBodyIndex mobod, bool isExcluded) const</arglist>
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    <member kind="function">
      <type>const Gravity &amp;</type>
      <name>setGravityVector</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>afe687243a43b234154a302d0abcd07e0</anchor>
      <arglist>(State &amp;state, const Vec3 &amp;gravity) const</arglist>
    </member>
    <member kind="function">
      <type>const Gravity &amp;</type>
      <name>setDownDirection</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>a0e096c55dccedc080f66d781a081b736</anchor>
      <arglist>(State &amp;state, const UnitVec3 &amp;down) const</arglist>
    </member>
    <member kind="function">
      <type>const Gravity &amp;</type>
      <name>setDownDirection</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
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      <arglist>(State &amp;state, const Vec3 &amp;down) const</arglist>
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    <member kind="function">
      <type>const Gravity &amp;</type>
      <name>setMagnitude</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>a78caca59d8af58eebac28deb2483d87a</anchor>
      <arglist>(State &amp;state, Real g) const</arglist>
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    <member kind="function">
      <type>const Gravity &amp;</type>
      <name>setZeroHeight</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>aff80e2efd6fd90afdf6b3d23e453a298</anchor>
      <arglist>(State &amp;state, Real hz) const</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>getBodyIsExcluded</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>a5c74ecb5b9c203e74dcdf8f04d04ad0d</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex mobod) const</arglist>
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      <type>Vec3</type>
      <name>getGravityVector</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>abce5d3a200e6ee42748c316f43c2c270</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const UnitVec3 &amp;</type>
      <name>getDownDirection</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>a14e7e2adc0e835c47628e866b14c6565</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>Real</type>
      <name>getMagnitude</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>a2c8757cba826423fc8d0bbf6450adda9</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>Real</type>
      <name>getZeroHeight</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>abffc34328f5f93392ab74f4ce3c5dbd2</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>Real</type>
      <name>getPotentialEnergy</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>af6966ebb423245ac188f25d09dc656d7</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>const Vector_&lt; SpatialVec &gt; &amp;</type>
      <name>getBodyForces</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>aaa6761c58727d65ff8265a9f2e78b1ee</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const SpatialVec &amp;</type>
      <name>getBodyForce</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>af5517110807e3f429cc9882b0b1275a4</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex mobod) const</arglist>
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      <type>long long</type>
      <name>getNumEvaluations</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>a43c71bd722d21d2f1d11ae2eccadbdd0</anchor>
      <arglist>() const</arglist>
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      <type>bool</type>
      <name>isForceCacheValid</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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      <name>invalidateForceCache</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>add584501099248330a576a17013898e8</anchor>
      <arglist>(const State &amp;state) const</arglist>
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  </compound>
  <compound kind="class">
    <name>SimTK::Force::LinearBushing</name>
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    <base>SimTK::Force</base>
    <member kind="function">
      <type></type>
      <name>LinearBushing</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a266f94c18106d52165644524c0d84247</anchor>
      <arglist>(GeneralForceSubsystem &amp;forces, const MobilizedBody &amp;body1, const Transform &amp;frameFOnB1, const MobilizedBody &amp;body2, const Transform &amp;frameMOnB2, const Vec6 &amp;stiffness, const Vec6 &amp;damping)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>LinearBushing</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>aaaef5e828796deeba3eba86a9f49f67b</anchor>
      <arglist>(GeneralForceSubsystem &amp;forces, const MobilizedBody &amp;body1, const MobilizedBody &amp;body2, const Vec6 &amp;stiffness, const Vec6 &amp;damping)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>LinearBushing</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>aeb46037ce1680d72052c3d727f473c83</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>LinearBushing &amp;</type>
      <name>setDefaultFrameOnBody1</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>acf53a2e79a7b156cf16c182c006def29</anchor>
      <arglist>(const Transform &amp;X_B1F)</arglist>
    </member>
    <member kind="function">
      <type>LinearBushing &amp;</type>
      <name>setDefaultFrameOnBody2</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>acdf2582be6b25f2ab7c13598e68723c0</anchor>
      <arglist>(const Transform &amp;X_B2M)</arglist>
    </member>
    <member kind="function">
      <type>LinearBushing &amp;</type>
      <name>setDefaultStiffness</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a1e3d84d246eb92756105a555c9034252</anchor>
      <arglist>(const Vec6 &amp;stiffness)</arglist>
    </member>
    <member kind="function">
      <type>LinearBushing &amp;</type>
      <name>setDefaultDamping</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>abb1db309fc0320b417b2f0b8799e8223</anchor>
      <arglist>(const Vec6 &amp;damping)</arglist>
    </member>
    <member kind="function">
      <type>const Transform &amp;</type>
      <name>getDefaultFrameOnBody1</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a0083dcbc0b7aa1797382e1bd86d6ea5d</anchor>
      <arglist>() const</arglist>
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      <type>const Transform &amp;</type>
      <name>getDefaultFrameOnBody2</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>ad358086625ae1a45c8b3905d99665c5e</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>const Vec6 &amp;</type>
      <name>getDefaultStiffness</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a481257b2801df5dce99bf5b998e3cbfe</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>const Vec6 &amp;</type>
      <name>getDefaultDamping</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a48eaea4100266652c1dbbc9cb853f4ba</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>const LinearBushing &amp;</type>
      <name>setFrameOnBody1</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a3ec1951dd7aa9237f8435dbbb6b04e1a</anchor>
      <arglist>(State &amp;state, const Transform &amp;X_B1F) const</arglist>
    </member>
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      <type>const LinearBushing &amp;</type>
      <name>setFrameOnBody2</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a9fb279f4d5c607e26d34fccbd8a20faa</anchor>
      <arglist>(State &amp;state, const Transform &amp;X_B2M) const</arglist>
    </member>
    <member kind="function">
      <type>const LinearBushing &amp;</type>
      <name>setStiffness</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a814ce456909482e1427671b0c899cde4</anchor>
      <arglist>(State &amp;state, const Vec6 &amp;stiffness) const</arglist>
    </member>
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      <type>const LinearBushing &amp;</type>
      <name>setDamping</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a1802b9a32a0cc79a7c1190c7212f8ce3</anchor>
      <arglist>(State &amp;state, const Vec6 &amp;damping) const</arglist>
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      <type>const Transform &amp;</type>
      <name>getFrameOnBody1</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a3257eddf974aa343364addadbf768395</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const Transform &amp;</type>
      <name>getFrameOnBody2</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a7a5e769a39b9cacbd803a0b735418b81</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const Vec6 &amp;</type>
      <name>getStiffness</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>ad0d839ef3f72c837b6334240458d4105</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const Vec6 &amp;</type>
      <name>getDamping</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a36fa36f844d4ba8a8cbabf347761e868</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
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      <type>const Vec6 &amp;</type>
      <name>getQ</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a237b52d5db22080fb17efa5735249574</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const Transform &amp;</type>
      <name>getX_GF</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a2179718344362b27011a40bd98a63223</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
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      <type>const Transform &amp;</type>
      <name>getX_GM</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a58e066ed86c710f6bce1333d8874dac2</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const Transform &amp;</type>
      <name>getX_FM</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>ad345cf8786216ba572449435df485f21</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec6 &amp;</type>
      <name>getQDot</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a3504061fb4c8c17e9824637f2afe8490</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
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      <type>const SpatialVec &amp;</type>
      <name>getV_GF</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a028570b286ab82f44184af5ea8ca15c2</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const SpatialVec &amp;</type>
      <name>getV_GM</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a30739ca3573c3ba6be07f5fdb2746301</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <name>getV_FM</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a50ad82568ece56280e11e0584bbfc886</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const Vec6 &amp;</type>
      <name>getF</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>ab708ef9ac76f01b90c48c72f8c6550a3</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const SpatialVec &amp;</type>
      <name>getF_GM</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>af1cadb2e5149590e0514e808d2abc593</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const SpatialVec &amp;</type>
      <name>getF_GF</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a98ad5f2e3852aa0bff2789babd5736d3</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>Real</type>
      <name>getPotentialEnergy</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>ada54e9ae42fd7d528f2aee157f80f8dc</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>Real</type>
      <name>getPowerDissipation</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a9aac0439ff9040c7f7cb71d4c55da20e</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>Real</type>
      <name>getDissipatedEnergy</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a209da21bab3c64567fd6a501e21f1927</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>void</type>
      <name>setDissipatedEnergy</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>af696704119faf8575ae5bd10d558937e</anchor>
      <arglist>(State &amp;state, Real energy) const</arglist>
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      <type>LinearBushing &amp;</type>
      <name>setDefaultFrameOnBody1</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>acf53a2e79a7b156cf16c182c006def29</anchor>
      <arglist>(const Transform &amp;X_B1F)</arglist>
    </member>
    <member kind="function">
      <type>LinearBushing &amp;</type>
      <name>setDefaultFrameOnBody2</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>acdf2582be6b25f2ab7c13598e68723c0</anchor>
      <arglist>(const Transform &amp;X_B2M)</arglist>
    </member>
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      <type>LinearBushing &amp;</type>
      <name>setDefaultStiffness</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a1e3d84d246eb92756105a555c9034252</anchor>
      <arglist>(const Vec6 &amp;stiffness)</arglist>
    </member>
    <member kind="function">
      <type>LinearBushing &amp;</type>
      <name>setDefaultDamping</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>abb1db309fc0320b417b2f0b8799e8223</anchor>
      <arglist>(const Vec6 &amp;damping)</arglist>
    </member>
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      <type>const Transform &amp;</type>
      <name>getDefaultFrameOnBody1</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a0083dcbc0b7aa1797382e1bd86d6ea5d</anchor>
      <arglist>() const</arglist>
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      <type>const Transform &amp;</type>
      <name>getDefaultFrameOnBody2</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>ad358086625ae1a45c8b3905d99665c5e</anchor>
      <arglist>() const</arglist>
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      <type>const Vec6 &amp;</type>
      <name>getDefaultStiffness</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a481257b2801df5dce99bf5b998e3cbfe</anchor>
      <arglist>() const</arglist>
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      <type>const Vec6 &amp;</type>
      <name>getDefaultDamping</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a48eaea4100266652c1dbbc9cb853f4ba</anchor>
      <arglist>() const</arglist>
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      <type>const LinearBushing &amp;</type>
      <name>setFrameOnBody1</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a3ec1951dd7aa9237f8435dbbb6b04e1a</anchor>
      <arglist>(State &amp;state, const Transform &amp;X_B1F) const</arglist>
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      <type>const LinearBushing &amp;</type>
      <name>setFrameOnBody2</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a9fb279f4d5c607e26d34fccbd8a20faa</anchor>
      <arglist>(State &amp;state, const Transform &amp;X_B2M) const</arglist>
    </member>
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      <type>const LinearBushing &amp;</type>
      <name>setStiffness</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a814ce456909482e1427671b0c899cde4</anchor>
      <arglist>(State &amp;state, const Vec6 &amp;stiffness) const</arglist>
    </member>
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      <type>const LinearBushing &amp;</type>
      <name>setDamping</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a1802b9a32a0cc79a7c1190c7212f8ce3</anchor>
      <arglist>(State &amp;state, const Vec6 &amp;damping) const</arglist>
    </member>
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      <type>const Transform &amp;</type>
      <name>getFrameOnBody1</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a3257eddf974aa343364addadbf768395</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const Transform &amp;</type>
      <name>getFrameOnBody2</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a7a5e769a39b9cacbd803a0b735418b81</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const Vec6 &amp;</type>
      <name>getStiffness</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>ad0d839ef3f72c837b6334240458d4105</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const Vec6 &amp;</type>
      <name>getDamping</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a36fa36f844d4ba8a8cbabf347761e868</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const Vec6 &amp;</type>
      <name>getQ</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a237b52d5db22080fb17efa5735249574</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const Transform &amp;</type>
      <name>getX_GF</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a2179718344362b27011a40bd98a63223</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>const Transform &amp;</type>
      <name>getX_GM</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a58e066ed86c710f6bce1333d8874dac2</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>const Transform &amp;</type>
      <name>getX_FM</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>ad345cf8786216ba572449435df485f21</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec6 &amp;</type>
      <name>getQDot</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a3504061fb4c8c17e9824637f2afe8490</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>const SpatialVec &amp;</type>
      <name>getV_GF</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a028570b286ab82f44184af5ea8ca15c2</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>const SpatialVec &amp;</type>
      <name>getV_GM</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a30739ca3573c3ba6be07f5fdb2746301</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>const SpatialVec &amp;</type>
      <name>getV_FM</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a50ad82568ece56280e11e0584bbfc886</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec6 &amp;</type>
      <name>getF</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>ab708ef9ac76f01b90c48c72f8c6550a3</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>const SpatialVec &amp;</type>
      <name>getF_GM</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>af1cadb2e5149590e0514e808d2abc593</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>const SpatialVec &amp;</type>
      <name>getF_GF</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a98ad5f2e3852aa0bff2789babd5736d3</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getPotentialEnergy</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>ada54e9ae42fd7d528f2aee157f80f8dc</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getPowerDissipation</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a9aac0439ff9040c7f7cb71d4c55da20e</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getDissipatedEnergy</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a209da21bab3c64567fd6a501e21f1927</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setDissipatedEnergy</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>af696704119faf8575ae5bd10d558937e</anchor>
      <arglist>(State &amp;state, Real energy) const</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::Force::MobilityConstantForce</name>
    <filename>classSimTK_1_1Force_1_1MobilityConstantForce.html</filename>
    <base>SimTK::Force</base>
    <member kind="function">
      <type></type>
      <name>MobilityConstantForce</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityConstantForce.html</anchorfile>
      <anchor>a90225e5e06486b737e129ae497b0114f</anchor>
      <arglist>(GeneralForceSubsystem &amp;forces, const MobilizedBody &amp;mobod, MobilizerUIndex whichU, Real defaultForce)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MobilityConstantForce</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityConstantForce.html</anchorfile>
      <anchor>a0c28b5a2d6260eb201f58d8fcb96fa06</anchor>
      <arglist>(GeneralForceSubsystem &amp;forces, const MobilizedBody &amp;mobod, Real defaultForce)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MobilityConstantForce</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityConstantForce.html</anchorfile>
      <anchor>a7d4644387ab86c0bc8d2d24e114b3ca8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>MobilityConstantForce &amp;</type>
      <name>setDefaultForce</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityConstantForce.html</anchorfile>
      <anchor>a9fe8b62859e615232429b38fa4445aad</anchor>
      <arglist>(Real defaultForce)</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getDefaultForce</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityConstantForce.html</anchorfile>
      <anchor>ab4e295385612ef3c57f9445db733912c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setForce</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityConstantForce.html</anchorfile>
      <anchor>a8708f624af5f5f1591dedacfdaa164cf</anchor>
      <arglist>(State &amp;state, Real force) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getForce</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityConstantForce.html</anchorfile>
      <anchor>a4fc0c3cc72de55ce5ca4bc0a03d7431d</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MobilityConstantForce</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityConstantForce.html</anchorfile>
      <anchor>a1f32eaf6d46b4a66542f33f666ea511a</anchor>
      <arglist>(GeneralForceSubsystem &amp;forces, const MobilizedBody &amp;mobod, int whichU, Real defaultForce)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MobilityConstantForce</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityConstantForce.html</anchorfile>
      <anchor>a1f32eaf6d46b4a66542f33f666ea511a</anchor>
      <arglist>(GeneralForceSubsystem &amp;forces, const MobilizedBody &amp;mobod, int whichU, Real defaultForce)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::Force::MobilityDiscreteForce</name>
    <filename>classSimTK_1_1Force_1_1MobilityDiscreteForce.html</filename>
    <base>SimTK::Force</base>
    <member kind="function">
      <type></type>
      <name>MobilityDiscreteForce</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityDiscreteForce.html</anchorfile>
      <anchor>a6663c1d0021278294901727f21e8813e</anchor>
      <arglist>(GeneralForceSubsystem &amp;forces, const MobilizedBody &amp;mobod, MobilizerUIndex whichU, Real defaultForce=0)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MobilityDiscreteForce</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityDiscreteForce.html</anchorfile>
      <anchor>aa44c7a8c20a2d394cec3c8e8e40847f8</anchor>
      <arglist>(GeneralForceSubsystem &amp;forces, const MobilizedBody &amp;mobod, Real defaultForce=0)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MobilityDiscreteForce</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityDiscreteForce.html</anchorfile>
      <anchor>a7b77b7b4c7af40aa3a1faf63d920340b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>MobilityDiscreteForce &amp;</type>
      <name>setDefaultMobilityForce</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityDiscreteForce.html</anchorfile>
      <anchor>a9cb9409b8fec722e66c5778a1ede6569</anchor>
      <arglist>(Real defaultForce)</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getDefaultMobilityForce</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityDiscreteForce.html</anchorfile>
      <anchor>a8ce5fb6c5bbe06330a397131cac26691</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setMobilityForce</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityDiscreteForce.html</anchorfile>
      <anchor>afdb9fb19f9423076bd5b7963c5b6a08d</anchor>
      <arglist>(State &amp;state, Real f) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getMobilityForce</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityDiscreteForce.html</anchorfile>
      <anchor>a649380eb3f23470dd6877ac5e6f1d059</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::Force::MobilityLinearDamper</name>
    <filename>classSimTK_1_1Force_1_1MobilityLinearDamper.html</filename>
    <base>SimTK::Force</base>
    <member kind="function">
      <type></type>
      <name>MobilityLinearDamper</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityLinearDamper.html</anchorfile>
      <anchor>ac379f73a1d1d733eda19ba26d0006609</anchor>
      <arglist>(GeneralForceSubsystem &amp;forces, const MobilizedBody &amp;mobod, MobilizerUIndex whichU, Real defaultDamping)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MobilityLinearDamper</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityLinearDamper.html</anchorfile>
      <anchor>aa88abc34fa60bde23514cc1bff8ebcd5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>MobilityLinearDamper &amp;</type>
      <name>setDefaultDamping</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityLinearDamper.html</anchorfile>
      <anchor>a742eba0f2cf59e989e3720ef3bda83c7</anchor>
      <arglist>(Real defaultDamping)</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getDefaultDamping</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityLinearDamper.html</anchorfile>
      <anchor>ac8eca83f7996bdcbe55c0aad29e98414</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const MobilityLinearDamper &amp;</type>
      <name>setDamping</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityLinearDamper.html</anchorfile>
      <anchor>a075703895da1249b03747f1a34bb6225</anchor>
      <arglist>(State &amp;state, Real damping) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getDamping</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityLinearDamper.html</anchorfile>
      <anchor>ae32abf71b2a8303a38e14f35ab5025a1</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MobilityLinearDamper</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityLinearDamper.html</anchorfile>
      <anchor>a34a11d88b133448e6411d2bc257057f2</anchor>
      <arglist>(GeneralForceSubsystem &amp;forces, const MobilizedBody &amp;mobod, int whichU, Real defaultDamping)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MobilityLinearDamper</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityLinearDamper.html</anchorfile>
      <anchor>a34a11d88b133448e6411d2bc257057f2</anchor>
      <arglist>(GeneralForceSubsystem &amp;forces, const MobilizedBody &amp;mobod, int whichU, Real defaultDamping)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::Force::MobilityLinearSpring</name>
    <filename>classSimTK_1_1Force_1_1MobilityLinearSpring.html</filename>
    <base>SimTK::Force</base>
    <member kind="function">
      <type></type>
      <name>MobilityLinearSpring</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityLinearSpring.html</anchorfile>
      <anchor>a8b409daf2766139cec48a7f72fa3b35d</anchor>
      <arglist>(GeneralForceSubsystem &amp;forces, const MobilizedBody &amp;mobod, MobilizerQIndex whichQ, Real defaultStiffness, Real defaultQZero)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MobilityLinearSpring</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityLinearSpring.html</anchorfile>
      <anchor>a8b871851ba2b6b4eee2a098716afec20</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>MobilityLinearSpring &amp;</type>
      <name>setDefaultStiffness</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityLinearSpring.html</anchorfile>
      <anchor>a453e931805895fb2b3e28d4ee2ec3288</anchor>
      <arglist>(Real defaultStiffness)</arglist>
    </member>
    <member kind="function">
      <type>MobilityLinearSpring &amp;</type>
      <name>setDefaultQZero</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityLinearSpring.html</anchorfile>
      <anchor>ae0508d9a229b4591bafd007bbb0da080</anchor>
      <arglist>(Real defaultQZero)</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getDefaultStiffness</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityLinearSpring.html</anchorfile>
      <anchor>a4d6dbc81bc5e70f0ecdd76262ea222cc</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getDefaultQZero</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityLinearSpring.html</anchorfile>
      <anchor>ac5326d569ab18774aa0c094425fefcc4</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const MobilityLinearSpring &amp;</type>
      <name>setStiffness</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityLinearSpring.html</anchorfile>
      <anchor>aa9222f67a3a965d1141b73e87b1842b7</anchor>
      <arglist>(State &amp;state, Real stiffness) const</arglist>
    </member>
    <member kind="function">
      <type>const MobilityLinearSpring &amp;</type>
      <name>setQZero</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityLinearSpring.html</anchorfile>
      <anchor>a90dcf4ad90ecbdc18bbc681d9f13bac8</anchor>
      <arglist>(State &amp;state, Real qZero) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getStiffness</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityLinearSpring.html</anchorfile>
      <anchor>a0af9cbe935ffdbfefbc10c4e09095ced</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getQZero</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityLinearSpring.html</anchorfile>
      <anchor>afb88938ee7dd651983980e6124ff57d3</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MobilityLinearSpring</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityLinearSpring.html</anchorfile>
      <anchor>a452b7acf617830e9bad5f7de35631993</anchor>
      <arglist>(GeneralForceSubsystem &amp;forces, const MobilizedBody &amp;mobod, int whichQ, Real defaultStiffness, Real defaultQZero)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MobilityLinearSpring</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityLinearSpring.html</anchorfile>
      <anchor>a452b7acf617830e9bad5f7de35631993</anchor>
      <arglist>(GeneralForceSubsystem &amp;forces, const MobilizedBody &amp;mobod, int whichQ, Real defaultStiffness, Real defaultQZero)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::Force::MobilityLinearStop</name>
    <filename>classSimTK_1_1Force_1_1MobilityLinearStop.html</filename>
    <base>SimTK::Force</base>
    <member kind="function">
      <type></type>
      <name>MobilityLinearStop</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityLinearStop.html</anchorfile>
      <anchor>a23ce68bd789cb699367903a7d068fb18</anchor>
      <arglist>(GeneralForceSubsystem &amp;forces, const MobilizedBody &amp;mobod, MobilizerQIndex whichQ, Real defaultStiffness, Real defaultDissipation, Real defaultQLow=-Infinity, Real defaultQHigh=Infinity)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MobilityLinearStop</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityLinearStop.html</anchorfile>
      <anchor>aa9814dc30aeaa4d3acef35accb46c08d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>MobilityLinearStop &amp;</type>
      <name>setDefaultBounds</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityLinearStop.html</anchorfile>
      <anchor>aad7b55f3c67cfca41046e72098a5fad7</anchor>
      <arglist>(Real defaultQLow, Real defaultQHigh)</arglist>
    </member>
    <member kind="function">
      <type>MobilityLinearStop &amp;</type>
      <name>setDefaultMaterialProperties</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityLinearStop.html</anchorfile>
      <anchor>ac16c366eed7de3fa560dfc86f1d0d847</anchor>
      <arglist>(Real defaultStiffness, Real defaultDissipation)</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getDefaultLowerBound</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityLinearStop.html</anchorfile>
      <anchor>a8af614774ccc769dd6226e3178e0ef8d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getDefaultUpperBound</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityLinearStop.html</anchorfile>
      <anchor>add6b0e629d8e2a089baa270ee4ca717b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getDefaultStiffness</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityLinearStop.html</anchorfile>
      <anchor>a5e7eac6855e1d428afe39a3c6a9e6994</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getDefaultDissipation</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityLinearStop.html</anchorfile>
      <anchor>a1fc85d62f1a6c7e436c364bed078b90b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setBounds</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityLinearStop.html</anchorfile>
      <anchor>abadd4ce2eed724c981a82149696990fc</anchor>
      <arglist>(State &amp;state, Real qLow, Real qHigh) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setMaterialProperties</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityLinearStop.html</anchorfile>
      <anchor>ac588debb12ee8d9a443d33cea7a57250</anchor>
      <arglist>(State &amp;state, Real stiffness, Real dissipation) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getLowerBound</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityLinearStop.html</anchorfile>
      <anchor>aded4fb58ca6be689b8cb9559ba68a1a7</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getUpperBound</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityLinearStop.html</anchorfile>
      <anchor>a5f600177a7c618c436ac273a02e69a39</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getStiffness</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityLinearStop.html</anchorfile>
      <anchor>a5c581c1672b5d4c4b568bf0281d9bca9</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getDissipation</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityLinearStop.html</anchorfile>
      <anchor>a8befa0c1d1ede5ae94430473a96fc9cc</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::Force::Thermostat</name>
    <filename>classSimTK_1_1Force_1_1Thermostat.html</filename>
    <base>SimTK::Force</base>
    <member kind="function">
      <type></type>
      <name>Thermostat</name>
      <anchorfile>classSimTK_1_1Force_1_1Thermostat.html</anchorfile>
      <anchor>a8bbfebcc4ec118b63c33b9bfcc5fedb0</anchor>
      <arglist>(GeneralForceSubsystem &amp;forces, const SimbodyMatterSubsystem &amp;matter, Real boltzmannsConstant, Real bathTemperature, Real relaxationTime, int numExcludedDofs=6)</arglist>
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      <arglist>()</arglist>
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      <arglist>(Real bathTemperature)</arglist>
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      <arglist>(Real relaxationTime)</arglist>
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      <arglist>() const</arglist>
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      <arglist>(State &amp;, int numChains) const</arglist>
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      <arglist>(const State &amp;) const</arglist>
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      <arglist>(GeneralForceSubsystem &amp;forces, const MobilizedBody &amp;body1, const Vec3 &amp;station1, const MobilizedBody &amp;body2, const Vec3 &amp;station2, Real force)</arglist>
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      <arglist>(GeneralForceSubsystem &amp;forces, const MobilizedBody &amp;body1, const Vec3 &amp;station1, const MobilizedBody &amp;body2, const Vec3 &amp;station2, Real k, Real x0)</arglist>
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      <anchorfile>classSimTK_1_1Function___1_1Constant.html</anchorfile>
      <anchor>a3eb6cbab237ed2f51210260c0f5ca62d</anchor>
      <arglist>(const Vector &amp;x) const override</arglist>
    </member>
    <member kind="function">
      <type>T</type>
      <name>calcDerivative</name>
      <anchorfile>classSimTK_1_1Function___1_1Constant.html</anchorfile>
      <anchor>a2dee9593bc2d8a566422e074212410fb</anchor>
      <arglist>(const Array_&lt; int &gt; &amp;derivComponents, const Vector &amp;x) const override</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getArgumentSize</name>
      <anchorfile>classSimTK_1_1Function___1_1Constant.html</anchorfile>
      <anchor>a7d3ddf46c55bca1cdcf9803a9616b30a</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getMaxDerivativeOrder</name>
      <anchorfile>classSimTK_1_1Function___1_1Constant.html</anchorfile>
      <anchor>a4830a0db71a6c7d0bda9881e2ba76fc7</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>Constant *</type>
      <name>clone</name>
      <anchorfile>classSimTK_1_1Function___1_1Constant.html</anchorfile>
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      <arglist>() const override</arglist>
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    <member kind="function">
      <type>T</type>
      <name>calcDerivative</name>
      <anchorfile>classSimTK_1_1Function___1_1Constant.html</anchorfile>
      <anchor>ac7de4623b4d1476bf46d761baf40fb5d</anchor>
      <arglist>(const std::vector&lt; int &gt; &amp;derivComponents, const Vector &amp;x) const</arglist>
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  </compound>
  <compound kind="class">
    <name>SimTK::Function_::Linear</name>
    <filename>classSimTK_1_1Function___1_1Linear.html</filename>
    <base>SimTK::Function_</base>
    <member kind="function">
      <type></type>
      <name>Linear</name>
      <anchorfile>classSimTK_1_1Function___1_1Linear.html</anchorfile>
      <anchor>accb5e62b4439d3e24be5ba344b505c48</anchor>
      <arglist>(const Vector_&lt; T &gt; &amp;coefficients)</arglist>
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    <member kind="function">
      <type>T</type>
      <name>calcValue</name>
      <anchorfile>classSimTK_1_1Function___1_1Linear.html</anchorfile>
      <anchor>a64acedeee8d3d12f113686d33af8604f</anchor>
      <arglist>(const Vector &amp;x) const override</arglist>
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    <member kind="function">
      <type>T</type>
      <name>calcDerivative</name>
      <anchorfile>classSimTK_1_1Function___1_1Linear.html</anchorfile>
      <anchor>a1d449085fb59bf979d08de3dbbd2e25b</anchor>
      <arglist>(const Array_&lt; int &gt; &amp;derivComponents, const Vector &amp;x) const override</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getArgumentSize</name>
      <anchorfile>classSimTK_1_1Function___1_1Linear.html</anchorfile>
      <anchor>ad2df2c393cf1dfefae3b9e07e74f1942</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getMaxDerivativeOrder</name>
      <anchorfile>classSimTK_1_1Function___1_1Linear.html</anchorfile>
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      <arglist>() const override</arglist>
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    <member kind="function">
      <type>Linear *</type>
      <name>clone</name>
      <anchorfile>classSimTK_1_1Function___1_1Linear.html</anchorfile>
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      <arglist>() const override</arglist>
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    <member kind="function">
      <type>T</type>
      <name>calcDerivative</name>
      <anchorfile>classSimTK_1_1Function___1_1Linear.html</anchorfile>
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      <arglist>(const std::vector&lt; int &gt; &amp;derivComponents, const Vector &amp;x) const</arglist>
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  <compound kind="class">
    <name>SimTK::Function_::Polynomial</name>
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    <base>SimTK::Function_</base>
    <member kind="function">
      <type></type>
      <name>Polynomial</name>
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      <arglist>(const Vector_&lt; T &gt; &amp;coefficients)</arglist>
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    <member kind="function">
      <type>T</type>
      <name>calcValue</name>
      <anchorfile>classSimTK_1_1Function___1_1Polynomial.html</anchorfile>
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      <arglist>(const Vector &amp;x) const override</arglist>
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    <member kind="function">
      <type>T</type>
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      <anchorfile>classSimTK_1_1Function___1_1Polynomial.html</anchorfile>
      <anchor>a875dc2738b469a5e3b84339a31108e39</anchor>
      <arglist>(const Array_&lt; int &gt; &amp;derivComponents, const Vector &amp;x) const override</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getArgumentSize</name>
      <anchorfile>classSimTK_1_1Function___1_1Polynomial.html</anchorfile>
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      <arglist>() const override</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getMaxDerivativeOrder</name>
      <anchorfile>classSimTK_1_1Function___1_1Polynomial.html</anchorfile>
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      <arglist>() const override</arglist>
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      <type>Polynomial *</type>
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      <arglist>() const override</arglist>
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    <member kind="function">
      <type>T</type>
      <name>calcDerivative</name>
      <anchorfile>classSimTK_1_1Function___1_1Polynomial.html</anchorfile>
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      <arglist>(const std::vector&lt; int &gt; &amp;derivComponents, const Vector &amp;x) const</arglist>
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  <compound kind="class">
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    <base>Function_&lt; Real &gt;</base>
    <member kind="function">
      <type></type>
      <name>Sinusoid</name>
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      <arglist>(Real amplitude, Real frequency, Real phase=0)</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classSimTK_1_1Function___1_1Sinusoid.html</anchorfile>
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      <arglist>(Real amplitude)</arglist>
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    <member kind="function">
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      <anchorfile>classSimTK_1_1Function___1_1Sinusoid.html</anchorfile>
      <anchor>adc546cb36b0429a11e0ea6f86f0a1418</anchor>
      <arglist>(Real frequency)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setPhase</name>
      <anchorfile>classSimTK_1_1Function___1_1Sinusoid.html</anchorfile>
      <anchor>a72bf48b0eb16b6901febff7e438e12fb</anchor>
      <arglist>(Real phase)</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getAmplitude</name>
      <anchorfile>classSimTK_1_1Function___1_1Sinusoid.html</anchorfile>
      <anchor>ae50735044fc4eded9b3c9ad2383abee8</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getFrequency</name>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getPhase</name>
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      <arglist>() const</arglist>
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      <name>calcValue</name>
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      <arglist>(const Vector &amp;x) const override</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual Real</type>
      <name>calcDerivative</name>
      <anchorfile>classSimTK_1_1Function___1_1Sinusoid.html</anchorfile>
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      <arglist>(const Array_&lt; int &gt; &amp;derivComponents, const Vector &amp;x) const override</arglist>
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      <type>int</type>
      <name>getArgumentSize</name>
      <anchorfile>classSimTK_1_1Function___1_1Sinusoid.html</anchorfile>
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      <arglist>() const override</arglist>
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      <type>int</type>
      <name>getMaxDerivativeOrder</name>
      <anchorfile>classSimTK_1_1Function___1_1Sinusoid.html</anchorfile>
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      <arglist>() const override</arglist>
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      <type>Sinusoid *</type>
      <name>clone</name>
      <anchorfile>classSimTK_1_1Function___1_1Sinusoid.html</anchorfile>
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      <arglist>() const override</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>calcDerivative</name>
      <anchorfile>classSimTK_1_1Function___1_1Sinusoid.html</anchorfile>
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      <arglist>(const std::vector&lt; int &gt; &amp;derivComponents, const Vector &amp;x) const</arglist>
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  <compound kind="class">
    <name>SimTK::Function_::Step</name>
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    <base>SimTK::Function_</base>
    <member kind="function">
      <type></type>
      <name>Step</name>
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      <arglist>(const T &amp;y0, const T &amp;y1, Real x0, Real x1)</arglist>
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      <arglist>(const T &amp;y0, const T &amp;y1, Real x0, Real x1)</arglist>
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      <arglist>(const Vector &amp;xin) const override</arglist>
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    <member kind="function">
      <type>T</type>
      <name>calcDerivative</name>
      <anchorfile>classSimTK_1_1Function___1_1Step.html</anchorfile>
      <anchor>acc3b0a190754466aaa551e2e397a9ead</anchor>
      <arglist>(const Array_&lt; int &gt; &amp;derivComponents, const Vector &amp;xin) const override</arglist>
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      <anchorfile>classSimTK_1_1Function___1_1Step.html</anchorfile>
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      <arglist>() const override</arglist>
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      <type>int</type>
      <name>getMaxDerivativeOrder</name>
      <anchorfile>classSimTK_1_1Function___1_1Step.html</anchorfile>
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      <arglist>() const override</arglist>
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      <anchorfile>classSimTK_1_1Function___1_1Step.html</anchorfile>
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      <arglist>() const override</arglist>
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      <type>T</type>
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      <anchorfile>classSimTK_1_1Function___1_1Step.html</anchorfile>
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      <arglist>(const std::vector&lt; int &gt; &amp;derivComponents, const Vector &amp;x) const</arglist>
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  <compound kind="class">
    <name>SimTK::GCVSPLUtil</name>
    <filename>classSimTK_1_1GCVSPLUtil.html</filename>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>gcvspl</name>
      <anchorfile>classSimTK_1_1GCVSPLUtil.html</anchorfile>
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      <arglist>(const Vector &amp;x, const Vector &amp;y, const Vector &amp;wx, Real wy, int m, int md, Real val, Vector &amp;c, Vector &amp;wk, int &amp;ier)</arglist>
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    <member kind="function" static="yes">
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      <anchorfile>classSimTK_1_1GCVSPLUtil.html</anchorfile>
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      <arglist>(const Vector &amp;x, const Vector_&lt; Vec&lt; K &gt; &gt; &amp;y, const Vector &amp;wx, Vec&lt; K &gt; wy, int m, int md, Real val, Vector_&lt; Vec&lt; K &gt; &gt; &amp;c, Vector &amp;wk, int &amp;ier)</arglist>
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      <type>static Real</type>
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      <anchorfile>classSimTK_1_1GCVSPLUtil.html</anchorfile>
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      <arglist>(int derivOrder, int degree, Real t, const Vector &amp;x, const Vector &amp;coeff)</arglist>
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    <member kind="function" static="yes">
      <type>static Vec&lt; K &gt;</type>
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      <arglist>(int derivOrder, int degree, Real t, const Vector &amp;x, const Vector_&lt; Vec&lt; K &gt; &gt; &amp;coeff)</arglist>
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  <compound kind="class">
    <name>SimTK::GeneralContactSubsystem</name>
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    <base>SimTK::Subsystem</base>
    <member kind="function">
      <type></type>
      <name>GeneralContactSubsystem</name>
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      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
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      <arglist>(MultibodySystem &amp;)</arglist>
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    <member kind="function">
      <type>ContactSetIndex</type>
      <name>createContactSet</name>
      <anchorfile>classSimTK_1_1GeneralContactSubsystem.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function">
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>addBody</name>
      <anchorfile>classSimTK_1_1GeneralContactSubsystem.html</anchorfile>
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      <arglist>(ContactSetIndex index, const MobilizedBody &amp;body, const ContactGeometry &amp;geom, Transform transform)</arglist>
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    <member kind="function">
      <type>int</type>
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      <anchorfile>classSimTK_1_1GeneralContactSubsystem.html</anchorfile>
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      <arglist>(ContactSetIndex set) const</arglist>
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      <anchorfile>classSimTK_1_1GeneralContactSubsystem.html</anchorfile>
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      <arglist>(ContactSetIndex set, ContactSurfaceIndex index) const</arglist>
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    <member kind="function">
      <type>const ContactGeometry &amp;</type>
      <name>getBodyGeometry</name>
      <anchorfile>classSimTK_1_1GeneralContactSubsystem.html</anchorfile>
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      <arglist>(ContactSetIndex set, ContactSurfaceIndex index) const</arglist>
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    <member kind="function">
      <type>ContactGeometry &amp;</type>
      <name>updBodyGeometry</name>
      <anchorfile>classSimTK_1_1GeneralContactSubsystem.html</anchorfile>
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      <arglist>(ContactSetIndex set, ContactSurfaceIndex index)</arglist>
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      <type>const Transform &amp;</type>
      <name>getBodyTransform</name>
      <anchorfile>classSimTK_1_1GeneralContactSubsystem.html</anchorfile>
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      <arglist>(ContactSetIndex set, ContactSurfaceIndex index) const</arglist>
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      <type>Transform &amp;</type>
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      <anchorfile>classSimTK_1_1GeneralContactSubsystem.html</anchorfile>
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      <arglist>(ContactSetIndex set, ContactSurfaceIndex index)</arglist>
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    <member kind="function">
      <type>const Array_&lt; Contact &gt; &amp;</type>
      <name>getContacts</name>
      <anchorfile>classSimTK_1_1GeneralContactSubsystem.html</anchorfile>
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      <arglist>(const State &amp;state, ContactSetIndex set) const</arglist>
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      <anchorfile>classSimTK_1_1GeneralContactSubsystem.html</anchorfile>
      <anchor>ae8847c22a39df91b8be3ee0cad0f0eb4</anchor>
      <arglist>(GeneralContactSubsystem, Subsystem)</arglist>
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  <compound kind="class">
    <name>SimTK::GeneralForceSubsystem</name>
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    <base>SimTK::ForceSubsystem</base>
    <member kind="function">
      <type></type>
      <name>GeneralForceSubsystem</name>
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      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>GeneralForceSubsystem</name>
      <anchorfile>classSimTK_1_1GeneralForceSubsystem.html</anchorfile>
      <anchor>a3875605f3b8643c92d27123d971b9908</anchor>
      <arglist>(MultibodySystem &amp;)</arglist>
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    <member kind="function">
      <type>ForceIndex</type>
      <name>adoptForce</name>
      <anchorfile>classSimTK_1_1GeneralForceSubsystem.html</anchorfile>
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      <arglist>(Force &amp;force)</arglist>
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      <type>int</type>
      <name>getNumForces</name>
      <anchorfile>classSimTK_1_1GeneralForceSubsystem.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>const Force &amp;</type>
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      <anchorfile>classSimTK_1_1GeneralForceSubsystem.html</anchorfile>
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      <arglist>(ForceIndex index) const</arglist>
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    <member kind="function">
      <type>Force &amp;</type>
      <name>updForce</name>
      <anchorfile>classSimTK_1_1GeneralForceSubsystem.html</anchorfile>
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      <arglist>(ForceIndex index)</arglist>
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    <member kind="function">
      <type>bool</type>
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      <anchorfile>classSimTK_1_1GeneralForceSubsystem.html</anchorfile>
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      <arglist>(const State &amp;state, ForceIndex index) const</arglist>
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      <name>setForceIsDisabled</name>
      <anchorfile>classSimTK_1_1GeneralForceSubsystem.html</anchorfile>
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      <arglist>(State &amp;state, ForceIndex index, bool shouldBeDisabled) const</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classSimTK_1_1Geo_1_1BicubicBezierPatch__.html</anchorfile>
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      <anchorfile>classSimTK_1_1Geo_1_1BicubicBezierPatch__.html</anchorfile>
      <anchor>a345f1d8e9ded3f4e1438012bd6cafcdd</anchor>
      <arglist>(RealP u, RealP w, Vec3P &amp;Puu, Vec3P &amp;Puw, Vec3P &amp;Pww) const</arglist>
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      <type>void</type>
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      <anchorfile>classSimTK_1_1Geo_1_1BicubicBezierPatch__.html</anchorfile>
      <anchor>ac7ca4a6440507758b5baa38c1e69839a</anchor>
      <arglist>(RealP u, RealP w, Vec3P &amp;Puuu, Vec3P &amp;Puuw, Vec3P &amp;Puww, Vec3P &amp;Pwww) const</arglist>
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      <type>const Mat&lt; 4, 4, Vec3P &gt; &amp;</type>
      <name>getControlPoints</name>
      <anchorfile>classSimTK_1_1Geo_1_1BicubicBezierPatch__.html</anchorfile>
      <anchor>a0acf69098ea82e166b06b2ac4534338c</anchor>
      <arglist>() const</arglist>
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      <type>Mat&lt; 4, 4, Vec3P &gt; &amp;</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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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(RealP u, RealP w, BicubicBezierPatch_&lt; P &gt; &amp;patch00, BicubicBezierPatch_&lt; P &gt; &amp;patch01, BicubicBezierPatch_&lt; P &gt; &amp;patch10, BicubicBezierPatch_&lt; P &gt; &amp;patch11) const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <anchorfile>classSimTK_1_1Geo_1_1BicubicBezierPatch__.html</anchorfile>
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      <type>static void</type>
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      <anchorfile>classSimTK_1_1Geo_1_1BicubicBezierPatch__.html</anchorfile>
      <anchor>ae7b2f8c0bb9fa289571cdaa23639f0dd</anchor>
      <arglist>(const Mat&lt; 4, 4, Vec3P &gt; &amp;B, RealP u, RealP w, Vec3P &amp;Pu, Vec3P &amp;Pw)</arglist>
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      <anchorfile>classSimTK_1_1Geo_1_1BicubicBezierPatch__.html</anchorfile>
      <anchor>ab6e2ee49dc5b437dc9b0e388d3c78fae</anchor>
      <arglist>(const Mat&lt; 4, 4, Vec3P &gt; &amp;B, RealP u, RealP w, Vec3P &amp;Puu, Vec3P &amp;Puw, Vec3P &amp;Pww)</arglist>
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      <anchorfile>classSimTK_1_1Geo_1_1BicubicBezierPatch__.html</anchorfile>
      <anchor>a3226ab4adc8cc797c3ece56a65f77fb7</anchor>
      <arglist>(const Mat&lt; 4, 4, Vec3P &gt; &amp;B, RealP u, RealP w, Vec3P &amp;Puuu, Vec3P &amp;Puuw, Vec3P &amp;Puww, Vec3P &amp;Pwww)</arglist>
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      <anchor>af7e8f50d003f7282d09a203737db6105</anchor>
      <arglist>(const Mat&lt; 4, 4, Vec3P &gt; &amp;B, RealP u0)</arglist>
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      <anchor>ac725b3fed13d90b8575f4c5e99491299</anchor>
      <arglist>(const Mat&lt; 4, 4, Vec3P &gt; &amp;B, RealP w0)</arglist>
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      <anchorfile>classSimTK_1_1Geo_1_1BicubicBezierPatch__.html</anchorfile>
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      <arglist>(const Mat&lt; 4, 4, Vec3P &gt; &amp;B)</arglist>
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      <anchorfile>classSimTK_1_1Geo_1_1BicubicBezierPatch__.html</anchorfile>
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      <arglist>(const Mat&lt; 4, 4, Vec3P &gt; &amp;B, RealP u, RealP w, Vec3P &amp;Puu, Vec3P &amp;Puw, Vec3P &amp;Pww)</arglist>
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      <arglist>(const Mat&lt; 4, 4, Vec3P &gt; &amp;B, RealP u, RealP w, Vec3P &amp;Puuu, Vec3P &amp;Puuw, Vec3P &amp;Puww, Vec3P &amp;Pwww)</arglist>
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      <arglist>(RealP u, RealP w, Vec3P &amp;Puuu, Vec3P &amp;Puuw, Vec3P &amp;Puww, Vec3P &amp;Pwww) const</arglist>
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      <arglist>(const Mat&lt; 4, 4, Vec3P &gt; &amp;H)</arglist>
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      <arglist>(const Mat&lt; 4, 4, Vec3P &gt; &amp;A, RealP u, RealP w, Vec3P &amp;Puu, Vec3P &amp;Puw, Vec3P &amp;Pww)</arglist>
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      <arglist>(const Mat&lt; 4, 4, Vec3P &gt; &amp;A, RealP u, RealP w, Vec3P &amp;Puuu, Vec3P &amp;Puuw, Vec3P &amp;Puww, Vec3P &amp;Pwww)</arglist>
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    <member kind="function">
      <type>const Vec3P &amp;</type>
      <name>getLocation</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a127bf7f66d79428a9931f77057d7f140</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>RealP</type>
      <name>calcDistance</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a3ab175d1ace9171ad4bf0ee0607c4a3a</anchor>
      <arglist>(const Vec3P &amp;p2) const</arglist>
    </member>
    <member kind="function">
      <type>RealP</type>
      <name>findDistanceSqr</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a84a592e8afb1a88c5050cb1ac94a8806</anchor>
      <arglist>(const Vec3P &amp;p2) const</arglist>
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    <member kind="function" static="yes">
      <type>static RealP</type>
      <name>calcDistance</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a398f9d5b3d838a38e36825e51e519ac9</anchor>
      <arglist>(const Vec3P &amp;p1, const Vec3P &amp;p2)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static RealP</type>
      <name>findDistanceSqr</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a728dbcfc2fd830afbee8ecc0edc512b5</anchor>
      <arglist>(const Vec3P &amp;p1, const Vec3P &amp;p2)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Vec3P</type>
      <name>findMidpoint</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>aee36d794410d937b32171ac93705a3cb</anchor>
      <arglist>(const Vec3P &amp;p1, const Vec3P &amp;p2)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>pointsAreNumericallyCoincident</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>abdcd93886ac3fb0203916f5e2da270d2</anchor>
      <arglist>(const Vec3P &amp;p1, const Vec3P &amp;p2)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>pointsAreNumericallyCoincident</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a3c5d2c97d06c2c9c15385278ee4255e2</anchor>
      <arglist>(const Vec3P &amp;p1, const Vec3P &amp;p2, RealP tol)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>findSupportPoint</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a7f2a2c300a8cbfa0b848b80fbc144242</anchor>
      <arglist>(const Array_&lt; Vec3P &gt; &amp;points, const UnitVec3P &amp;direction, int &amp;most, RealP &amp;mostCoord)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>findSupportPointIndirect</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a731bb2637a8184660f5dbf61436db593</anchor>
      <arglist>(const Array_&lt; const Vec3P * &gt; &amp;points, const UnitVec3P &amp;direction, int &amp;most, RealP &amp;mostCoord)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>findExtremePoints</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a1ae12783fe37fc35b21f842874c8c5ea</anchor>
      <arglist>(const Array_&lt; Vec3P &gt; &amp;points, const UnitVec3P &amp;direction, int &amp;least, int &amp;most, RealP &amp;leastCoord, RealP &amp;mostCoord)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>findExtremePointsIndirect</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a6d8874d5eeea64737a7ea9f5e7a9a5a2</anchor>
      <arglist>(const Array_&lt; const Vec3P * &gt; &amp;points, const UnitVec3P &amp;direction, int &amp;least, int &amp;most, RealP &amp;leastCoord, RealP &amp;mostCoord)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Vec3P</type>
      <name>calcCentroid</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a2ae91f41cffde8982f9aa9df4772d090</anchor>
      <arglist>(const Array_&lt; Vec3P &gt; &amp;points_F)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Vec3P</type>
      <name>calcCentroidIndirect</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a766f2ad6b99c6e1be933e5be2431ee8d</anchor>
      <arglist>(const Array_&lt; const Vec3P * &gt; &amp;points_F)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>calcCovariance</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>aa90b727e7aaaa6bba0be0f45cf14f8a3</anchor>
      <arglist>(const Array_&lt; Vec3P &gt; &amp;points_F, Vec3P &amp;centroid, SymMat33P &amp;covariance)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>calcCovarianceIndirect</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a21fa0f91a4149e4caae35ea101be77af</anchor>
      <arglist>(const Array_&lt; const Vec3P * &gt; &amp;points_F, Vec3P &amp;centroid, SymMat33P &amp;covariance)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>calcPrincipalComponents</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a76682893e79f6893b143f3f98b056b3d</anchor>
      <arglist>(const Array_&lt; Vec3P &gt; &amp;points_F, TransformP &amp;X_FP)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>calcPrincipalComponentsIndirect</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a167e51d9bb244c7b043550aadf05def0</anchor>
      <arglist>(const Array_&lt; const Vec3P * &gt; &amp;points_F, TransformP &amp;X_FP)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>findAxisAlignedExtremePoints</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>acd97445a94f77bdb8dd9cf8646415a70</anchor>
      <arglist>(const Array_&lt; Vec3P &gt; &amp;points, int least[3], int most[3], Vec3P &amp;low, Vec3P &amp;high)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>findAxisAlignedExtremePointsIndirect</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a2b150e0c37f95bead85402e8ff596a54</anchor>
      <arglist>(const Array_&lt; const Vec3P * &gt; &amp;points, int least[3], int most[3], Vec3P &amp;low, Vec3P &amp;high)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Geo::AlignedBox_&lt; P &gt;</type>
      <name>calcAxisAlignedBoundingBox</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>acc5885ee6f88429656b6c8c6c4d32e96</anchor>
      <arglist>(const Array_&lt; Vec3P &gt; &amp;points, Array_&lt; int &gt; &amp;support)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Geo::AlignedBox_&lt; P &gt;</type>
      <name>calcAxisAlignedBoundingBox</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a33faed8ffeac8046a450cef049b6d5bf</anchor>
      <arglist>(const Array_&lt; Vec3P &gt; &amp;points)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Geo::AlignedBox_&lt; P &gt;</type>
      <name>calcAxisAlignedBoundingBoxIndirect</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a99018ecf44484328f6526c7d9f5d2eab</anchor>
      <arglist>(const Array_&lt; const Vec3P * &gt; &amp;points, Array_&lt; int &gt; &amp;support)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Geo::AlignedBox_&lt; P &gt;</type>
      <name>calcAxisAlignedBoundingBoxIndirect</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a712ecc9721323e3b51e75de69dc73438</anchor>
      <arglist>(const Array_&lt; const Vec3P * &gt; &amp;points)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>findOrientedExtremePoints</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a95cb29dc68b233fd81817cabeb78f2e7</anchor>
      <arglist>(const Array_&lt; Vec3P &gt; &amp;points_F, const RotationP &amp;R_FB, int least[3], int most[3], Vec3P &amp;low_B, Vec3P &amp;high_B)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>findOrientedExtremePointsIndirect</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a4c59a3588f0e0906b03ef83ab324f5f4</anchor>
      <arglist>(const Array_&lt; const Vec3P * &gt; &amp;points_F, const RotationP &amp;R_FB, int least[3], int most[3], Vec3P &amp;low_B, Vec3P &amp;high_B)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Geo::OrientedBox_&lt; P &gt;</type>
      <name>calcOrientedBoundingBox</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a5465798feac95e1534e0232f95756855</anchor>
      <arglist>(const Array_&lt; Vec3P &gt; &amp;points, Array_&lt; int &gt; &amp;support, bool optimize=true)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Geo::OrientedBox_&lt; P &gt;</type>
      <name>calcOrientedBoundingBox</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>afff738a3fa51ae4e379ab100d658bfbd</anchor>
      <arglist>(const Array_&lt; Vec3P &gt; &amp;points)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Geo::OrientedBox_&lt; P &gt;</type>
      <name>calcOrientedBoundingBoxIndirect</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>ae5b91e495b48b802fc4ee4e92c8dbb16</anchor>
      <arglist>(const Array_&lt; const Vec3P * &gt; &amp;points, Array_&lt; int &gt; &amp;support, bool optimize=true)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Geo::OrientedBox_&lt; P &gt;</type>
      <name>calcOrientedBoundingBoxIndirect</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a9d6e77c1b7f860870789fed793f44c95</anchor>
      <arglist>(const Array_&lt; const Vec3P * &gt; &amp;points, bool optimize=true)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Sphere_&lt; P &gt;</type>
      <name>calcBoundingSphere</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a49341e63fdcb5290af1acfc9156b9663</anchor>
      <arglist>(const Vec3P &amp;p)</arglist>
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    <member kind="function" static="yes">
      <type>static Sphere_&lt; P &gt;</type>
      <name>calcBoundingSphere</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a082d91291219035f2fcb971c40b3684c</anchor>
      <arglist>(const Vec3P &amp;p0, const Vec3P &amp;p1)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Sphere_&lt; P &gt;</type>
      <name>calcBoundingSphere</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>ace9d11627d1f525081ec32efe57fd7aa</anchor>
      <arglist>(const Vec3P &amp;p0, const Vec3P &amp;p1, const Vec3P &amp;p2)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Sphere_&lt; P &gt;</type>
      <name>calcBoundingSphere</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a3ebd70986aa7f0a0466aeae6c291843a</anchor>
      <arglist>(const Vec3P &amp;p0, const Vec3P &amp;p1, const Vec3P &amp;p2, const Vec3P &amp;p3)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Sphere_&lt; P &gt;</type>
      <name>calcBoundingSphere</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>ad7592467141069172a35f136058ff592</anchor>
      <arglist>(const Array_&lt; Vec3P &gt; &amp;points)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Sphere_&lt; P &gt;</type>
      <name>calcBoundingSphere</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>ad22c3e29308b06e70e7dfc7df3e0d5cb</anchor>
      <arglist>(const std::vector&lt; Vec3P &gt; &amp;points)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Sphere_&lt; P &gt;</type>
      <name>calcBoundingSphereIndirect</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>ab71d8029d017c9c675e5c2e8f4965718</anchor>
      <arglist>(const Array_&lt; const Vec3P * &gt; &amp;points)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Sphere_&lt; P &gt;</type>
      <name>calcBoundingSphere</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a6ed44ac9098a19e1d82edada119f4d0d</anchor>
      <arglist>(const std::vector&lt; const Vec3P * &gt; &amp;points)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Sphere_&lt; P &gt;</type>
      <name>calcBoundingSphere</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a51456770f377afd90500e3dfea6ab5f1</anchor>
      <arglist>(const Vec3P &amp;p0, Array_&lt; int &gt; &amp;which)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Sphere_&lt; P &gt;</type>
      <name>calcBoundingSphere</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>af91f337fb9b4e42ee956907bfcb0db74</anchor>
      <arglist>(const Vec3P &amp;p0, const Vec3P &amp;p1, Array_&lt; int &gt; &amp;which)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Sphere_&lt; P &gt;</type>
      <name>calcBoundingSphere</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>aca1628caca0314c0e4617b3dd4319bef</anchor>
      <arglist>(const Vec3P &amp;p0, const Vec3P &amp;p1, const Vec3P &amp;p2, bool forceCircumsphere, Array_&lt; int &gt; &amp;which)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Sphere_&lt; P &gt;</type>
      <name>calcBoundingSphere</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>ab9273f6d6bc41e2de233f5478f3f077e</anchor>
      <arglist>(const Vec3P &amp;p0, const Vec3P &amp;p1, const Vec3P &amp;p2, const Vec3P &amp;p3, bool forceCircumsphere, Array_&lt; int &gt; &amp;which)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Sphere_&lt; P &gt;</type>
      <name>calcBoundingSphere</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a6438abc63c5c2b93b8313c9528fe270e</anchor>
      <arglist>(const Array_&lt; Vec3P &gt; &amp;points, Array_&lt; int &gt; &amp;which)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Sphere_&lt; P &gt;</type>
      <name>calcBoundingSphereIndirect</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a498aae5ff58b788fb5d756aacb64408f</anchor>
      <arglist>(const Array_&lt; const Vec3P * &gt; &amp;points, Array_&lt; int &gt; &amp;which)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Sphere_&lt; P &gt;</type>
      <name>calcApproxBoundingSphere</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a56514b3f1cd2835190b47e62724224af</anchor>
      <arglist>(const Array_&lt; Vec3P &gt; &amp;points)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Sphere_&lt; P &gt;</type>
      <name>calcApproxBoundingSphere</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a4e66321dfcda41a4d431b11bac7dbbb2</anchor>
      <arglist>(const std::vector&lt; Vec3P &gt; &amp;points)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Sphere_&lt; P &gt;</type>
      <name>calcApproxBoundingSphereIndirect</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a0abf7d090bac57683f044d8ff274f2a1</anchor>
      <arglist>(const Array_&lt; const Vec3P * &gt; &amp;points)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Sphere_&lt; P &gt;</type>
      <name>calcApproxBoundingSphereIndirect</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>adada1ef22931ae38d1f21a89eb42dbf2</anchor>
      <arglist>(const std::vector&lt; const Vec3P * &gt; &amp;points)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static RealP</type>
      <name>calcDistance</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a398f9d5b3d838a38e36825e51e519ac9</anchor>
      <arglist>(const Vec3P &amp;p1, const Vec3P &amp;p2)</arglist>
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    <member kind="function" static="yes">
      <type>static RealP</type>
      <name>findDistanceSqr</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a728dbcfc2fd830afbee8ecc0edc512b5</anchor>
      <arglist>(const Vec3P &amp;p1, const Vec3P &amp;p2)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Vec3P</type>
      <name>findMidpoint</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>aee36d794410d937b32171ac93705a3cb</anchor>
      <arglist>(const Vec3P &amp;p1, const Vec3P &amp;p2)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>pointsAreNumericallyCoincident</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>abdcd93886ac3fb0203916f5e2da270d2</anchor>
      <arglist>(const Vec3P &amp;p1, const Vec3P &amp;p2)</arglist>
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    <member kind="function" static="yes">
      <type>static bool</type>
      <name>pointsAreNumericallyCoincident</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a3c5d2c97d06c2c9c15385278ee4255e2</anchor>
      <arglist>(const Vec3P &amp;p1, const Vec3P &amp;p2, RealP tol)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>findSupportPoint</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a7f2a2c300a8cbfa0b848b80fbc144242</anchor>
      <arglist>(const Array_&lt; Vec3P &gt; &amp;points, const UnitVec3P &amp;direction, int &amp;most, RealP &amp;mostCoord)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>findSupportPointIndirect</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a731bb2637a8184660f5dbf61436db593</anchor>
      <arglist>(const Array_&lt; const Vec3P * &gt; &amp;points, const UnitVec3P &amp;direction, int &amp;most, RealP &amp;mostCoord)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>findExtremePoints</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a1ae12783fe37fc35b21f842874c8c5ea</anchor>
      <arglist>(const Array_&lt; Vec3P &gt; &amp;points, const UnitVec3P &amp;direction, int &amp;least, int &amp;most, RealP &amp;leastCoord, RealP &amp;mostCoord)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>findExtremePointsIndirect</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a6d8874d5eeea64737a7ea9f5e7a9a5a2</anchor>
      <arglist>(const Array_&lt; const Vec3P * &gt; &amp;points, const UnitVec3P &amp;direction, int &amp;least, int &amp;most, RealP &amp;leastCoord, RealP &amp;mostCoord)</arglist>
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      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a2ae91f41cffde8982f9aa9df4772d090</anchor>
      <arglist>(const Array_&lt; Vec3P &gt; &amp;points_F)</arglist>
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      <arglist>(const Array_&lt; const Vec3P * &gt; &amp;points_F)</arglist>
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      <arglist>(const Array_&lt; Vec3P &gt; &amp;points_F, Vec3P &amp;centroid, SymMat33P &amp;covariance)</arglist>
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      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a21fa0f91a4149e4caae35ea101be77af</anchor>
      <arglist>(const Array_&lt; const Vec3P * &gt; &amp;points_F, Vec3P &amp;centroid, SymMat33P &amp;covariance)</arglist>
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      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
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      <arglist>(const Array_&lt; Vec3P &gt; &amp;points_F, TransformP &amp;X_FP)</arglist>
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      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
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      <arglist>(const Array_&lt; const Vec3P * &gt; &amp;points_F, TransformP &amp;X_FP)</arglist>
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      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>acd97445a94f77bdb8dd9cf8646415a70</anchor>
      <arglist>(const Array_&lt; Vec3P &gt; &amp;points, int least[3], int most[3], Vec3P &amp;low, Vec3P &amp;high)</arglist>
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      <anchor>a2b150e0c37f95bead85402e8ff596a54</anchor>
      <arglist>(const Array_&lt; const Vec3P * &gt; &amp;points, int least[3], int most[3], Vec3P &amp;low, Vec3P &amp;high)</arglist>
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      <anchor>acc5885ee6f88429656b6c8c6c4d32e96</anchor>
      <arglist>(const Array_&lt; Vec3P &gt; &amp;points, Array_&lt; int &gt; &amp;support)</arglist>
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      <arglist>(const Array_&lt; Vec3P &gt; &amp;points)</arglist>
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      <arglist>(const Array_&lt; const Vec3P * &gt; &amp;points, Array_&lt; int &gt; &amp;support)</arglist>
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      <arglist>(const Array_&lt; const Vec3P * &gt; &amp;points)</arglist>
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      <arglist>(const Array_&lt; Vec3P &gt; &amp;points_F, const RotationP &amp;R_FB, int least[3], int most[3], Vec3P &amp;low_B, Vec3P &amp;high_B)</arglist>
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      <arglist>(const Array_&lt; const Vec3P * &gt; &amp;points_F, const RotationP &amp;R_FB, int least[3], int most[3], Vec3P &amp;low_B, Vec3P &amp;high_B)</arglist>
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      <arglist>(const Array_&lt; Vec3P &gt; &amp;points, Array_&lt; int &gt; &amp;support, bool optimize=true)</arglist>
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      <arglist>(const Array_&lt; Vec3P &gt; &amp;points)</arglist>
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      <arglist>(const Array_&lt; const Vec3P * &gt; &amp;points, Array_&lt; int &gt; &amp;support, bool optimize=true)</arglist>
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      <arglist>(const Array_&lt; const Vec3P * &gt; &amp;points, bool optimize=true)</arglist>
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      <arglist>(const Vec3P &amp;p)</arglist>
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      <arglist>(const Array_&lt; Vec3P &gt; &amp;points)</arglist>
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      <arglist>(const Array_&lt; const Vec3P * &gt; &amp;points)</arglist>
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      <arglist>(const Vec3P &amp;p0, Array_&lt; int &gt; &amp;which)</arglist>
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      <arglist>(const Vec3P &amp;p0, const Vec3P &amp;p1, Array_&lt; int &gt; &amp;which)</arglist>
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      <arglist>(const Vec3P &amp;p0, const Vec3P &amp;p1, const Vec3P &amp;p2, bool forceCircumsphere, Array_&lt; int &gt; &amp;which)</arglist>
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      <arglist>(const Array_&lt; const Vec3P * &gt; &amp;points, Array_&lt; int &gt; &amp;which)</arglist>
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      <arglist>(Real s)</arglist>
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      <arglist>(Real kappa)</arglist>
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      <arglist>(Real tauP)</arglist>
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      <arglist>(Real tauQ)</arglist>
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      <arglist>(Real muP)</arglist>
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      <arglist>(Real muQ)</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(bool isConvex)</arglist>
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      <arglist>(Real sz)</arglist>
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      <anchorfile>classSimTK_1_1Geodesic.html</anchorfile>
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      <arglist>(Real acc)</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(const State &amp;state, Vector &amp;err) const override</arglist>
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      <arglist>(const State &amp;, int derivOrder, T &amp;value) const</arglist>
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      <arglist>(const State &amp;, int derivOrder) const</arglist>
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      <type>void</type>
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      <name>getDerivativeMeasure</name>
      <anchorfile>classSimTK_1_1Measure___1_1Integrate.html</anchorfile>
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      <arglist>() const</arglist>
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      <anchorfile>classSimTK_1_1Measure___1_1Integrate.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>Integrate &amp;</type>
      <name>setDerivativeMeasure</name>
      <anchorfile>classSimTK_1_1Measure___1_1Integrate.html</anchorfile>
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      <arglist>(const Measure_&lt; T &gt; &amp;d)</arglist>
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      <anchorfile>classSimTK_1_1Measure___1_1Integrate.html</anchorfile>
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      <arglist>(const Measure_&lt; T &gt; &amp;ic)</arglist>
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      <name>getDerivativeMeasure</name>
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      <arglist>() const</arglist>
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      <name>getInitialConditionMeasure</name>
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      <arglist>() const</arglist>
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      <type>void</type>
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      <arglist>(const Measure_&lt; T &gt; &amp;d)</arglist>
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      <type>void</type>
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      <anchorfile>classSimTK_1_1Measure___1_1Integrate_1_1Implementation.html</anchorfile>
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      <arglist>(const Measure_&lt; T &gt; &amp;ic)</arglist>
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      <arglist>() const override</arglist>
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      <arglist>() const override</arglist>
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      <arglist>(const State &amp;s, int derivOrder, T &amp;value) const override</arglist>
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      <type>const T &amp;</type>
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      <arglist>(const State &amp;s, int derivOrder) const override</arglist>
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      <arglist>(int derivOrder) const override</arglist>
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      <arglist>(State &amp;s) const override</arglist>
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      <type>void</type>
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      <anchorfile>classSimTK_1_1Measure___1_1Integrate_1_1Implementation.html</anchorfile>
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      <arglist>(State &amp;s) const override</arglist>
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      <type>void</type>
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      <anchorfile>classSimTK_1_1Measure___1_1Integrate_1_1Implementation.html</anchorfile>
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      <arglist>(const State &amp;s) const override</arglist>
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    <name>SimTK::Measure_::MaxAbs</name>
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    <base>SimTK::Measure_::Extreme</base>
    <member kind="function">
      <type></type>
      <name>MaxAbs</name>
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      <anchor>a9492d4a3f82c4161a9c8c452fc9dff2d</anchor>
      <arglist>(Subsystem &amp;sub, const Measure_&lt; T &gt; &amp;operand)</arglist>
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  <compound kind="class">
    <name>SimTK::Measure_::Maximum</name>
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    <base>SimTK::Measure_::Extreme</base>
    <member kind="function">
      <type></type>
      <name>Maximum</name>
      <anchorfile>classSimTK_1_1Measure___1_1Maximum.html</anchorfile>
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      <arglist>(Subsystem &amp;sub, const Measure_&lt; T &gt; &amp;operand)</arglist>
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  <compound kind="class">
    <name>SimTK::Measure_::MinAbs</name>
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    <base>SimTK::Measure_::Extreme</base>
    <member kind="function">
      <type></type>
      <name>MinAbs</name>
      <anchorfile>classSimTK_1_1Measure___1_1MinAbs.html</anchorfile>
      <anchor>a75647185c9a949e4a18b70eaa96c979a</anchor>
      <arglist>(Subsystem &amp;sub, const Measure_&lt; T &gt; &amp;operand)</arglist>
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  <compound kind="class">
    <name>SimTK::Measure_::Minimum</name>
    <filename>classSimTK_1_1Measure___1_1Minimum.html</filename>
    <base>SimTK::Measure_::Extreme</base>
    <member kind="function">
      <type></type>
      <name>Minimum</name>
      <anchorfile>classSimTK_1_1Measure___1_1Minimum.html</anchorfile>
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      <arglist>(Subsystem &amp;sub, const Measure_&lt; T &gt; &amp;operand)</arglist>
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  <compound kind="class">
    <name>SimTK::Measure_::Minus</name>
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    <member kind="function">
      <type></type>
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      <anchorfile>classSimTK_1_1Measure___1_1Minus.html</anchorfile>
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      <arglist>(Minus, Measure_&lt; T &gt;)</arglist>
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      <name>Minus</name>
      <anchorfile>classSimTK_1_1Measure___1_1Minus.html</anchorfile>
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      <arglist>(Subsystem &amp;sub, const Measure_&lt; T &gt; &amp;left, const Measure_&lt; T &gt; &amp;right)</arglist>
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      <name>SimTK_MEASURE_HANDLE_POSTSCRIPT</name>
      <anchorfile>classSimTK_1_1Measure___1_1Minus.html</anchorfile>
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      <arglist>(Minus, Measure_&lt; T &gt;)</arglist>
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    <base>SimTK::Measure_::Implementation</base>
    <member kind="function">
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      <arglist>()</arglist>
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      <arglist>(const Measure_&lt; T &gt; &amp;left, const Measure_&lt; T &gt; &amp;right)</arglist>
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      <arglist>() const override</arglist>
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      <arglist>() const override</arglist>
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      <arglist>(int order) const override</arglist>
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      <arglist>(const State &amp;s, int derivOrder, T &amp;value) const override</arglist>
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    <base>SimTK::Measure_::Constant</base>
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    <member kind="function">
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      <arglist>()</arglist>
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      <arglist>(Subsystem &amp;sub)</arglist>
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      <arglist>(int size)</arglist>
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  <compound kind="class">
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    <base>SimTK::Measure_</base>
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    <member kind="function">
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      <arglist>(Plus, Measure_&lt; T &gt;)</arglist>
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      <arglist>(Plus, Measure_&lt; T &gt;)</arglist>
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    <base>SimTK::Measure_::Implementation</base>
    <member kind="function">
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      <arglist>()</arglist>
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      <arglist>(const Measure_&lt; T &gt; &amp;left, const Measure_&lt; T &gt; &amp;right)</arglist>
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      <arglist>() const override</arglist>
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      <arglist>() const override</arglist>
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      <arglist>(int order) const override</arglist>
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      <arglist>(const State &amp;s, int derivOrder, T &amp;value) const override</arglist>
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    <base>SimTK::Measure_</base>
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      <arglist>(Result, Measure_&lt; T &gt;)</arglist>
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      <arglist>(Subsystem &amp;sub, Stage dependsOn, Stage invalidated)</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <type>QIndex</type>
      <name>getFirstQIndex</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>afe286382562f701e4770fd36fbbc9c56</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>UIndex</type>
      <name>getFirstUIndex</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a7e6619165bfc52a25c7c980942ada4f4</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>Motion::Method</type>
      <name>getQMotionMethod</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a53ba57c2c50c49c6bd27ffcc54ffdb2e</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>Motion::Method</type>
      <name>getUMotionMethod</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a50390a05d0a584b2f8cc6172f1c7c3ba</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>Motion::Method</type>
      <name>getUDotMotionMethod</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a1c013c77b41adcce04b7a648b3b952b9</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getOneQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ac92bf6ee4b0f5762470edd20c09367ac</anchor>
      <arglist>(const State &amp;state, int which) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getOneU</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a82739d0f696a851dbf62dd4ec25b24e2</anchor>
      <arglist>(const State &amp;state, int which) const</arglist>
    </member>
    <member kind="function">
      <type>Vector</type>
      <name>getQAsVector</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a57ed3b3d70ba81279a0cb8e1dd001fb9</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Vector</type>
      <name>getUAsVector</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>af962c96575c037d160cead1ac4f63b57</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getOneQDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a37d3bbc5c84f9338b31ed942b940ef68</anchor>
      <arglist>(const State &amp;state, int which) const</arglist>
    </member>
    <member kind="function">
      <type>Vector</type>
      <name>getQDotAsVector</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>acc76a7933109c5beedce28d18949177f</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getOneUDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a834c5b6f05ea634e3f57ffc26d2f2ce9</anchor>
      <arglist>(const State &amp;state, int which) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getOneQDotDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a3a5623196e562e162b927683369d39c0</anchor>
      <arglist>(const State &amp;state, int which) const</arglist>
    </member>
    <member kind="function">
      <type>Vector</type>
      <name>getUDotAsVector</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a8f107a478bbd7f15d637dddd958ea7e3</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Vector</type>
      <name>getQDotDotAsVector</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>aef38a742f49060d1b2b70df1493006ef</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Vector</type>
      <name>getTauAsVector</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a9ef837a36aa7311f19946f81850ee322</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getOneTau</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a9b12cb194f85b3d3a0185977ad8e3020</anchor>
      <arglist>(const State &amp;state, MobilizerUIndex which) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setOneQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>adbc127eaf84aec1da9b37da44bc16676</anchor>
      <arglist>(State &amp;state, int which, Real v) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setOneU</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a8b14a0965ca7a736aaae4be2212f3056</anchor>
      <arglist>(State &amp;state, int which, Real v) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setQFromVector</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>aad69174749d94611dde4e17afa89382a</anchor>
      <arglist>(State &amp;state, const Vector &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setUFromVector</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a9bf0c2277664295a20236f119e1dee95</anchor>
      <arglist>(State &amp;state, const Vector &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setQToFitTransform</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a418d778f070ac601e5cd6e53387bb59e</anchor>
      <arglist>(State &amp;state, const Transform &amp;X_FM) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setQToFitRotation</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a875ecb7e454c3bffa09987468ae5ffdb</anchor>
      <arglist>(State &amp;state, const Rotation &amp;R_FM) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setQToFitTranslation</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>afba1f7a6cba78b3d8df12561c8858743</anchor>
      <arglist>(State &amp;state, const Vec3 &amp;p_FM) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setUToFitVelocity</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>afe76e0b6153fd19b8d49720aec2a88c7</anchor>
      <arglist>(State &amp;state, const SpatialVec &amp;V_FM) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setUToFitAngularVelocity</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a6038a45c6b6653b31acbe263ded21cbf</anchor>
      <arglist>(State &amp;state, const Vec3 &amp;w_FM) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setUToFitLinearVelocity</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ac9f6bada3a91b8383a9b5f8d68e2f9a1</anchor>
      <arglist>(State &amp;state, const Vec3 &amp;v_FM) const</arglist>
    </member>
    <member kind="function">
      <type>SpatialVec</type>
      <name>getHCol</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a3f33a3d81249f661974eb1899f0a9ca4</anchor>
      <arglist>(const State &amp;state, MobilizerUIndex ux) const</arglist>
    </member>
    <member kind="function">
      <type>SpatialVec</type>
      <name>getH_FMCol</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a2dc40f081f33dad780980cb3720757ea</anchor>
      <arglist>(const State &amp;state, MobilizerUIndex ux) const</arglist>
    </member>
    <member kind="function">
      <type>Transform</type>
      <name>findBodyTransformInAnotherBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>aa3180fc4c7a1b2f661263845f7e1510e</anchor>
      <arglist>(const State &amp;state, const MobilizedBody &amp;inBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>Rotation</type>
      <name>findBodyRotationInAnotherBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a59048fe712a3ef1330eb7cc9547b3843</anchor>
      <arglist>(const State &amp;state, const MobilizedBody &amp;inBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findBodyOriginLocationInAnotherBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a8f2136cc67f114e87f5926beda1d4d22</anchor>
      <arglist>(const State &amp;state, const MobilizedBody &amp;toBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>SpatialVec</type>
      <name>findBodyVelocityInAnotherBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>adc56f8e0c45cac8f1442d766d7e13270</anchor>
      <arglist>(const State &amp;state, const MobilizedBody &amp;inBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findBodyAngularVelocityInAnotherBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>abc743067f6794ba6b2d40d20705e11f7</anchor>
      <arglist>(const State &amp;state, const MobilizedBody &amp;inBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findBodyOriginVelocityInAnotherBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a0412460b9810abe56ab8a3fb3236c789</anchor>
      <arglist>(const State &amp;state, const MobilizedBody &amp;inBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>SpatialVec</type>
      <name>findBodyAccelerationInAnotherBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a1365e20e0a4b96afdca85831b1814511</anchor>
      <arglist>(const State &amp;state, const MobilizedBody &amp;inBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findBodyAngularAccelerationInAnotherBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>aed976b663466f48e71421346e2cc4900</anchor>
      <arglist>(const State &amp;state, const MobilizedBody &amp;inBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findBodyOriginAccelerationInAnotherBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a5be52596e10f5190996b61e20f7da1df</anchor>
      <arglist>(const State &amp;state, const MobilizedBody &amp;inBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>SpatialVec</type>
      <name>findMobilizerReactionOnBodyAtMInGround</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a70afa8a35e994c37a61019570d11b712</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>SpatialVec</type>
      <name>findMobilizerReactionOnBodyAtOriginInGround</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a1194825849fac876fab47dd73eda868f</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>SpatialVec</type>
      <name>findMobilizerReactionOnParentAtFInGround</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>addea5c0ba8726cc7a73863bdda734e3c</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>SpatialVec</type>
      <name>findMobilizerReactionOnParentAtOriginInGround</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a559deb51626cf9a292ed33ad97daea51</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findStationLocationInGround</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>aa24121ea11d0e59e369c4fc45977dfec</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;stationOnB) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findStationLocationInAnotherBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a0879b9a3ef0fdce2146ce7dea681a249</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;stationOnB, const MobilizedBody &amp;toBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findStationVelocityInGround</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>afa9ec2224096fef6e0db59501ae22278</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;stationOnB) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findStationVelocityInAnotherBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a1f3d479797d8352b71f96ab56148152e</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;stationOnBodyB, const MobilizedBody &amp;inBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findStationAccelerationInGround</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a8ba2a691a6db18500bc1031254e1cfa6</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;stationOnB) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findStationAccelerationInAnotherBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a68da8b76ec973b2a6a1fbe3c0e04e726</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;stationOnBodyB, const MobilizedBody &amp;inBodyA) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>findStationLocationAndVelocityInGround</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a569bd2d4d9fe22f87e846e9c1ff6de57</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;locationOnB, Vec3 &amp;locationOnGround, Vec3 &amp;velocityInGround) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>findStationLocationVelocityAndAccelerationInGround</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a45a04f5cc66a9abd9acc5a1760e00ee1</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;locationOnB, Vec3 &amp;locationOnGround, Vec3 &amp;velocityInGround, Vec3 &amp;accelerationInGround) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findMassCenterLocationInGround</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ab6968766693e58bf92bbf347bdf93264</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findMassCenterLocationInAnotherBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>acdf314743641d968eb74ec5ce3c7f4b2</anchor>
      <arglist>(const State &amp;state, const MobilizedBody &amp;toBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findStationAtGroundPoint</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a3f448149d218c0e8276f0f7eb2da6170</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;locationInG) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findStationAtAnotherBodyStation</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a55f957b67f76f821236a598e52277eb1</anchor>
      <arglist>(const State &amp;state, const MobilizedBody &amp;fromBodyA, const Vec3 &amp;stationOnA) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findStationAtAnotherBodyOrigin</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>aa64e7083403d6c43b3475e6e0d3bbb99</anchor>
      <arglist>(const State &amp;state, const MobilizedBody &amp;fromBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findStationAtAnotherBodyMassCenter</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ad8840e5507a1458fd60b133cee0b1e26</anchor>
      <arglist>(const State &amp;state, const MobilizedBody &amp;fromBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>Transform</type>
      <name>findFrameTransformInGround</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>af377c1c03273d1a05edbe2d46b9a02e1</anchor>
      <arglist>(const State &amp;state, const Transform &amp;frameOnB) const</arglist>
    </member>
    <member kind="function">
      <type>SpatialVec</type>
      <name>findFrameVelocityInGround</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>aabf2db26b30809041c6540df491676fb</anchor>
      <arglist>(const State &amp;state, const Transform &amp;frameOnB) const</arglist>
    </member>
    <member kind="function">
      <type>SpatialVec</type>
      <name>findFrameAccelerationInGround</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ac76c3a757c9e7adeb24454a76fbc7b4b</anchor>
      <arglist>(const State &amp;state, const Transform &amp;frameOnB) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>expressVectorInGroundFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a9efd9aee0e4a3535e744715f83c6c3c9</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;vectorInB) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>expressGroundVectorInBodyFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a913ad5c1598a79b090c73d0c0a557bdc</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;vectorInG) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>expressVectorInAnotherBodyFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ac0afe9437f784ebe409e6f1e5a59484d</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;vectorInB, const MobilizedBody &amp;inBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>MassProperties</type>
      <name>expressMassPropertiesInGroundFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a6c6395e5c21ca8001cbdd6af1b874760</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>MassProperties</type>
      <name>expressMassPropertiesInAnotherBodyFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a2fed4689e136fdabde9e4f9a0acba8be</anchor>
      <arglist>(const State &amp;state, const MobilizedBody &amp;inBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>SpatialMat</type>
      <name>calcBodySpatialInertiaMatrixInGround</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a171e2fbde3639d6e4aadfd01ff190bfe</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Inertia</type>
      <name>calcBodyCentralInertia</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a2ca66f6fa629a129889d30a6c1fd9a25</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex objectBodyB) const</arglist>
    </member>
    <member kind="function">
      <type>Inertia</type>
      <name>calcBodyInertiaAboutAnotherBodyStation</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a89210f5f8217e120cda9204f49fd20bd</anchor>
      <arglist>(const State &amp;state, const MobilizedBody &amp;inBodyA, const Vec3 &amp;aboutLocationOnBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>SpatialVec</type>
      <name>calcBodyMomentumAboutBodyOriginInGround</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>afc4029646b0e89372c37eb12a7f63c4c</anchor>
      <arglist>(const State &amp;state)</arglist>
    </member>
    <member kind="function">
      <type>SpatialVec</type>
      <name>calcBodyMomentumAboutBodyMassCenterInGround</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a236a65c58ee5e9ef326c17aff0872b52</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>calcStationToStationDistance</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>aafcd65fb9fd0012cde15a5cf5da17f8a</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;locationOnBodyB, const MobilizedBody &amp;bodyA, const Vec3 &amp;locationOnBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>calcStationToStationDistanceTimeDerivative</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a6a53ab3d757f9dd162d5ab67c9de161f</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;locationOnBodyB, const MobilizedBody &amp;bodyA, const Vec3 &amp;locationOnBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>calcStationToStationDistance2ndTimeDerivative</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ab13f899cc32b64ce26e68dceddb4c2f0</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;locationOnBodyB, const MobilizedBody &amp;bodyA, const Vec3 &amp;locationOnBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>calcBodyMovingPointVelocityInBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a6bc18870ffcc42cc1fcf4ca09a35ef0e</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;locationOnBodyB, const Vec3 &amp;velocityOnBodyB, const MobilizedBody &amp;inBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>calcBodyMovingPointAccelerationInBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a22c1fed08d350b3393ff579e6d4d514d</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;locationOnBodyB, const Vec3 &amp;velocityOnBodyB, const Vec3 &amp;accelerationOnBodyB, const MobilizedBody &amp;inBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>calcMovingPointToPointDistanceTimeDerivative</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a4eace813858818c28c5d2d45ff671f9e</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;locationOnBodyB, const Vec3 &amp;velocityOnBodyB, const MobilizedBody &amp;bodyA, const Vec3 &amp;locationOnBodyA, const Vec3 &amp;velocityOnBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>calcMovingPointToPointDistance2ndTimeDerivative</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a3c95c353fbd4d3dbbb87844b62eaff8a</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;locationOnBodyB, const Vec3 &amp;velocityOnBodyB, const Vec3 &amp;accelerationOnBodyB, const MobilizedBody &amp;bodyA, const Vec3 &amp;locationOnBodyA, const Vec3 &amp;velocityOnBodyA, const Vec3 &amp;accelerationOnBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>const Body &amp;</type>
      <name>getBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ae191d2a2571abd894ce83b883caa52a1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Body &amp;</type>
      <name>updBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a9d923cd8142f9f22fd8c066bc123f5fc</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>MobilizedBody &amp;</type>
      <name>setBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a6ed529dd784c1b31d0758dc108d99733</anchor>
      <arglist>(const Body &amp;)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>addBodyDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a0397e80362252a12c1e1b82fad4119d1</anchor>
      <arglist>(const Transform &amp;X_BD, const DecorativeGeometry &amp;geometry)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>addBodyDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a23fdbd930e0d1b457b34f74bbea48f05</anchor>
      <arglist>(const DecorativeGeometry &amp;geometry)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>addOutboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a318d42af0404b963baaf79aefe5ac2aa</anchor>
      <arglist>(const Transform &amp;X_MD, const DecorativeGeometry &amp;geometry)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getNumOutboardDecorations</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ab772714f86931b362e5d8f5691292ec0</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const DecorativeGeometry &amp;</type>
      <name>getOutboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a7c56c292bfaa4d5b50d6832986d619ae</anchor>
      <arglist>(int i) const</arglist>
    </member>
    <member kind="function">
      <type>DecorativeGeometry &amp;</type>
      <name>updOutboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ab72c9eeb5134c3f0592ff8ad9596c60a</anchor>
      <arglist>(int i)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>addInboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>aac4d45c5d01f527fe78d1cd87ae0ed12</anchor>
      <arglist>(const Transform &amp;X_FD, const DecorativeGeometry &amp;geometry)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getNumInboardDecorations</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>aa9d7c9ff05dbe753f5a178d9ed93c2db</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const DecorativeGeometry &amp;</type>
      <name>getInboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a27301e8e5620f9dd953d4bb747ddc4f0</anchor>
      <arglist>(int i) const</arglist>
    </member>
    <member kind="function">
      <type>DecorativeGeometry &amp;</type>
      <name>updInboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a2aafb9d7c6308942522cdbde6ccf1d06</anchor>
      <arglist>(int i)</arglist>
    </member>
    <member kind="function">
      <type>MobilizedBody &amp;</type>
      <name>setDefaultMassProperties</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a96ad8ad7a2ab01d1f972ac63b75177c4</anchor>
      <arglist>(const MassProperties &amp;m)</arglist>
    </member>
    <member kind="function">
      <type>const MassProperties &amp;</type>
      <name>getDefaultMassProperties</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ae237aca546ee55fdb4fd1928ca197ed2</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>adoptMotion</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a8093a13f5455a64f3992ac46e60baff3</anchor>
      <arglist>(Motion &amp;ownerHandle)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>clearMotion</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ad387e92c292c91370ae34e64d4fb1a25</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>hasMotion</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ab5f71740bc138ad36ee2b1737dd7f611</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Motion &amp;</type>
      <name>getMotion</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a4a874aaf1ec77fd1b1846cd229cb9769</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MobilizedBody &amp;</type>
      <name>setDefaultInboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>aa316ee0d30e68802bbb5c5e5f923b629</anchor>
      <arglist>(const Transform &amp;X_PF)</arglist>
    </member>
    <member kind="function">
      <type>MobilizedBody &amp;</type>
      <name>setDefaultOutboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>aa9ab782162cb3812c0d8210288290624</anchor>
      <arglist>(const Transform &amp;X_BM)</arglist>
    </member>
    <member kind="function">
      <type>const Transform &amp;</type>
      <name>getDefaultInboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a5d3dedc7308a6a96042ee611caf47071</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Transform &amp;</type>
      <name>getDefaultOutboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>aee79ef55bf6fc503c0ab76ed00378a02</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator MobilizedBodyIndex</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a892f8b27504f8940d446764b1bc69758</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MobilizedBodyIndex</type>
      <name>getMobilizedBodyIndex</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ab5466b7e9c0977486bb5700dafeab8c5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const MobilizedBody &amp;</type>
      <name>getParentMobilizedBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>acfe2d4ec5b4b0bebeef99046636b65cf</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const MobilizedBody &amp;</type>
      <name>getBaseMobilizedBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a4b4bda58017f5946686e4db296490354</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const SimbodyMatterSubsystem &amp;</type>
      <name>getMatterSubsystem</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a68f4843b5af99340f73376b57adac452</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SimbodyMatterSubsystem &amp;</type>
      <name>updMatterSubsystem</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>aa31b3864498124e5f5a9874efe68ffd2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isInSubsystem</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a34467d3cf253d9f471d6f02fa0aeb155</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isInSameSubsystem</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a683af835f356b36e0fa805fa55ad0e57</anchor>
      <arglist>(const MobilizedBody &amp;mobod) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameMobilizedBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>aa0b11982ceee24c8dc2ff1f07f990712</anchor>
      <arglist>(const MobilizedBody &amp;mobod) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isGround</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>afc0a8e93710e08429faf0a30ce4f5bca</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getLevelInMultibodyTree</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a10f57e8ee4892c1f80f7edf98b5affd3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MobilizedBody &amp;</type>
      <name>cloneForNewParent</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>afd78c277fe5effdde19841f27e76f8c4</anchor>
      <arglist>(MobilizedBody &amp;parent) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getOneFromQPartition</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ac24d141bc1ea41ea40a58acb1dd370a1</anchor>
      <arglist>(const State &amp;state, int which, const Vector &amp;qlike) const</arglist>
    </member>
    <member kind="function">
      <type>Real &amp;</type>
      <name>updOneFromQPartition</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a8752b6394fbbd69b8a2087f431463186</anchor>
      <arglist>(const State &amp;state, int which, Vector &amp;qlike) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getOneFromUPartition</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ac758c9fea23e90df028ecff987f86b4e</anchor>
      <arglist>(const State &amp;state, int which, const Vector &amp;ulike) const</arglist>
    </member>
    <member kind="function">
      <type>Real &amp;</type>
      <name>updOneFromUPartition</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>aec6c2054f25c896719348e9b8b2281e4</anchor>
      <arglist>(const State &amp;state, int which, Vector &amp;ulike) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>applyOneMobilityForce</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a858c75d7638530ef026a19d933c5f237</anchor>
      <arglist>(const State &amp;state, int which, Real f, Vector &amp;mobilityForces) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>convertQForceToUForce</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a80826ca5effd3b26ca2fa69d0b083526</anchor>
      <arglist>(const State &amp;state, const Array_&lt; Real, MobilizerQIndex &gt; &amp;fq, Array_&lt; Real, MobilizerUIndex &gt; &amp;fu) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>applyBodyForce</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a2cd2897843fe3a77563e6edad55936a8</anchor>
      <arglist>(const State &amp;state, const SpatialVec &amp;spatialForceInG, Vector_&lt; SpatialVec &gt; &amp;bodyForcesInG) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>applyBodyTorque</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a21992e4300bde7b4c6e856eca3909f45</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;torqueInG, Vector_&lt; SpatialVec &gt; &amp;bodyForcesInG) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>applyForceToBodyPoint</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a7123ed57681a9258fa205f5726031501</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;pointInB, const Vec3 &amp;forceInG, Vector_&lt; SpatialVec &gt; &amp;bodyForcesInG) const</arglist>
    </member>
    <member kind="typedef">
      <type>MobilizedBody</type>
      <name>Mobod</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>aa3ca9a5e09ca1368d7724daa9d7ff3fd</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>lock</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a4b2134c59f8d9925b0db50d8da174c22</anchor>
      <arglist>(State &amp;state, Motion::Level level=Motion::Position) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>lockAt</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a7cbd1e099175bb1cfe10fd466cb0c8d6</anchor>
      <arglist>(State &amp;state, Real value, Motion::Level level=Motion::Position) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>lockAt</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a27c4882b4c8a4242c1d180224f5146ab</anchor>
      <arglist>(State &amp;state, const Vector &amp;value, Motion::Level level=Motion::Position) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>lockAt</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ac9459ff7609d62b1c79ed1e1c01360dc</anchor>
      <arglist>(State &amp;state, const Vec&lt; N &gt; &amp;value, Motion::Level level=Motion::Position) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>unlock</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ad724a06a0278a94ce702603d8dfb7ffd</anchor>
      <arglist>(State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isLocked</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a33c428f846134afc16bff916ed64d346</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Motion::Level</type>
      <name>getLockLevel</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a7fa69ba47e6e3341f6012df0ab81216a</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Vector</type>
      <name>getLockValueAsVector</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a2aea5db74ec60676b4821377f6965cbe</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>MobilizedBody &amp;</type>
      <name>lockByDefault</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ac5b71338ce06176e41f11d9d113f4339</anchor>
      <arglist>(Motion::Level level=Motion::Position)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isLockedByDefault</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a978094bf010215ddcc06050578f40ab1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Motion::Level</type>
      <name>getLockByDefaultLevel</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a98fe6a82d47c5967aede695770bcbf70</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Transform &amp;</type>
      <name>getBodyTransform</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>af05e28bfed85a73e12b04f8d8f2a06a0</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>const Rotation &amp;</type>
      <name>getBodyRotation</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a008aada3c657aed4506ceb676530b231</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getBodyOriginLocation</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a1d2a6b3649ededc8cb0c8c4d08599f17</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>const Transform &amp;</type>
      <name>getMobilizerTransform</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a1ba63c01456e066c5bf722742d13e1e8</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>const SpatialVec &amp;</type>
      <name>getBodyVelocity</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>aaf5350a5920de94f80301661568d5ee3</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
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      <type>const Vec3 &amp;</type>
      <name>getBodyAngularVelocity</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a9043fce657abe33f3c429e62619fb9d7</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getBodyOriginVelocity</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>abfc234dadf16b295d5e8164b65c91282</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>const SpatialVec &amp;</type>
      <name>getMobilizerVelocity</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a449d42a7dbfe2b2f35ab03365377f5a6</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>const SpatialVec &amp;</type>
      <name>getBodyAcceleration</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a209e6ec302df07121539f9c23a50fd22</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getBodyAngularAcceleration</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>abdd0e42010e2ad448fbfea85fee909bf</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getBodyOriginAcceleration</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a6d9c6a69d0886cbf0731cf15a4c3f011</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>const SpatialVec &amp;</type>
      <name>getMobilizerAcceleration</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a08fcc5e8ba07bc1400bc9c19b274bf78</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const MassProperties &amp;</type>
      <name>getBodyMassProperties</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a6b69875f21dab85e0993a728ffcc57c3</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const SpatialInertia &amp;</type>
      <name>getBodySpatialInertiaInGround</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a2a0d3d5722d8afffa08e94f8c3e1cf6e</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>Real</type>
      <name>getBodyMass</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a9094b3f0f385aad7cddbbe8c767ff423</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const Vec3 &amp;</type>
      <name>getBodyMassCenterStation</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a4849600175a4819f5e8e1cc57aef73c3</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const UnitInertia &amp;</type>
      <name>getBodyUnitInertiaAboutBodyOrigin</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a56e8e7ce7f643e703c42c444ed435de2</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const Transform &amp;</type>
      <name>getInboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a93a2610f7e5f0041c867b7d1e0eb3d87</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const Transform &amp;</type>
      <name>getOutboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>aaeb0685d2a190f65d91e5c8d0c3ba587</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setInboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a40265af8e8ab74bfe29eceebbd338396</anchor>
      <arglist>(State &amp;state, const Transform &amp;X_PF) const</arglist>
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      <type>void</type>
      <name>setOutboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>aff37bf8c88abee7d926aa66d19e9646c</anchor>
      <arglist>(State &amp;state, const Transform &amp;X_BM) const</arglist>
    </member>
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      <type>int</type>
      <name>getNumQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a710e2296cc502c18fc251d67d13473ed</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getNumU</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a0053846bf4cf766db60948c07a0a0fc1</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>QIndex</type>
      <name>getFirstQIndex</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>afe286382562f701e4770fd36fbbc9c56</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>UIndex</type>
      <name>getFirstUIndex</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a7e6619165bfc52a25c7c980942ada4f4</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>Motion::Method</type>
      <name>getQMotionMethod</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a53ba57c2c50c49c6bd27ffcc54ffdb2e</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>Motion::Method</type>
      <name>getUMotionMethod</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a50390a05d0a584b2f8cc6172f1c7c3ba</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>Motion::Method</type>
      <name>getUDotMotionMethod</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a1c013c77b41adcce04b7a648b3b952b9</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getOneQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ac92bf6ee4b0f5762470edd20c09367ac</anchor>
      <arglist>(const State &amp;state, int which) const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getOneU</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a82739d0f696a851dbf62dd4ec25b24e2</anchor>
      <arglist>(const State &amp;state, int which) const</arglist>
    </member>
    <member kind="function">
      <type>Vector</type>
      <name>getQAsVector</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a57ed3b3d70ba81279a0cb8e1dd001fb9</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Vector</type>
      <name>getUAsVector</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>af962c96575c037d160cead1ac4f63b57</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getOneQDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a37d3bbc5c84f9338b31ed942b940ef68</anchor>
      <arglist>(const State &amp;state, int which) const</arglist>
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    <member kind="function">
      <type>Vector</type>
      <name>getQDotAsVector</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>acc76a7933109c5beedce28d18949177f</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getOneUDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a834c5b6f05ea634e3f57ffc26d2f2ce9</anchor>
      <arglist>(const State &amp;state, int which) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getOneQDotDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a3a5623196e562e162b927683369d39c0</anchor>
      <arglist>(const State &amp;state, int which) const</arglist>
    </member>
    <member kind="function">
      <type>Vector</type>
      <name>getUDotAsVector</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a8f107a478bbd7f15d637dddd958ea7e3</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Vector</type>
      <name>getQDotDotAsVector</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>aef38a742f49060d1b2b70df1493006ef</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Vector</type>
      <name>getTauAsVector</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a9ef837a36aa7311f19946f81850ee322</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getOneTau</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a9b12cb194f85b3d3a0185977ad8e3020</anchor>
      <arglist>(const State &amp;state, MobilizerUIndex which) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setOneQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>adbc127eaf84aec1da9b37da44bc16676</anchor>
      <arglist>(State &amp;state, int which, Real v) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setOneU</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a8b14a0965ca7a736aaae4be2212f3056</anchor>
      <arglist>(State &amp;state, int which, Real v) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setQFromVector</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>aad69174749d94611dde4e17afa89382a</anchor>
      <arglist>(State &amp;state, const Vector &amp;v) const</arglist>
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      <type>void</type>
      <name>setUFromVector</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a9bf0c2277664295a20236f119e1dee95</anchor>
      <arglist>(State &amp;state, const Vector &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setQToFitTransform</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a418d778f070ac601e5cd6e53387bb59e</anchor>
      <arglist>(State &amp;state, const Transform &amp;X_FM) const</arglist>
    </member>
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      <type>void</type>
      <name>setQToFitRotation</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a875ecb7e454c3bffa09987468ae5ffdb</anchor>
      <arglist>(State &amp;state, const Rotation &amp;R_FM) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setQToFitTranslation</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>afba1f7a6cba78b3d8df12561c8858743</anchor>
      <arglist>(State &amp;state, const Vec3 &amp;p_FM) const</arglist>
    </member>
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      <type>void</type>
      <name>setUToFitVelocity</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>afe76e0b6153fd19b8d49720aec2a88c7</anchor>
      <arglist>(State &amp;state, const SpatialVec &amp;V_FM) const</arglist>
    </member>
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      <type>void</type>
      <name>setUToFitAngularVelocity</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a6038a45c6b6653b31acbe263ded21cbf</anchor>
      <arglist>(State &amp;state, const Vec3 &amp;w_FM) const</arglist>
    </member>
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      <type>void</type>
      <name>setUToFitLinearVelocity</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ac9f6bada3a91b8383a9b5f8d68e2f9a1</anchor>
      <arglist>(State &amp;state, const Vec3 &amp;v_FM) const</arglist>
    </member>
    <member kind="function">
      <type>SpatialVec</type>
      <name>getHCol</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a3f33a3d81249f661974eb1899f0a9ca4</anchor>
      <arglist>(const State &amp;state, MobilizerUIndex ux) const</arglist>
    </member>
    <member kind="function">
      <type>SpatialVec</type>
      <name>getH_FMCol</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a2dc40f081f33dad780980cb3720757ea</anchor>
      <arglist>(const State &amp;state, MobilizerUIndex ux) const</arglist>
    </member>
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      <type>Transform</type>
      <name>findBodyTransformInAnotherBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>aa3180fc4c7a1b2f661263845f7e1510e</anchor>
      <arglist>(const State &amp;state, const MobilizedBody &amp;inBodyA) const</arglist>
    </member>
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      <type>Rotation</type>
      <name>findBodyRotationInAnotherBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a59048fe712a3ef1330eb7cc9547b3843</anchor>
      <arglist>(const State &amp;state, const MobilizedBody &amp;inBodyA) const</arglist>
    </member>
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      <type>Vec3</type>
      <name>findBodyOriginLocationInAnotherBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a8f2136cc67f114e87f5926beda1d4d22</anchor>
      <arglist>(const State &amp;state, const MobilizedBody &amp;toBodyA) const</arglist>
    </member>
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      <type>SpatialVec</type>
      <name>findBodyVelocityInAnotherBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>adc56f8e0c45cac8f1442d766d7e13270</anchor>
      <arglist>(const State &amp;state, const MobilizedBody &amp;inBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findBodyAngularVelocityInAnotherBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>abc743067f6794ba6b2d40d20705e11f7</anchor>
      <arglist>(const State &amp;state, const MobilizedBody &amp;inBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findBodyOriginVelocityInAnotherBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a0412460b9810abe56ab8a3fb3236c789</anchor>
      <arglist>(const State &amp;state, const MobilizedBody &amp;inBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>SpatialVec</type>
      <name>findBodyAccelerationInAnotherBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a1365e20e0a4b96afdca85831b1814511</anchor>
      <arglist>(const State &amp;state, const MobilizedBody &amp;inBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findBodyAngularAccelerationInAnotherBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>aed976b663466f48e71421346e2cc4900</anchor>
      <arglist>(const State &amp;state, const MobilizedBody &amp;inBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findBodyOriginAccelerationInAnotherBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a5be52596e10f5190996b61e20f7da1df</anchor>
      <arglist>(const State &amp;state, const MobilizedBody &amp;inBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>SpatialVec</type>
      <name>findMobilizerReactionOnBodyAtMInGround</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a70afa8a35e994c37a61019570d11b712</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>SpatialVec</type>
      <name>findMobilizerReactionOnBodyAtOriginInGround</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a1194825849fac876fab47dd73eda868f</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>SpatialVec</type>
      <name>findMobilizerReactionOnParentAtFInGround</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>addea5c0ba8726cc7a73863bdda734e3c</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>SpatialVec</type>
      <name>findMobilizerReactionOnParentAtOriginInGround</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a559deb51626cf9a292ed33ad97daea51</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findStationLocationInGround</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>aa24121ea11d0e59e369c4fc45977dfec</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;stationOnB) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findStationLocationInAnotherBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a0879b9a3ef0fdce2146ce7dea681a249</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;stationOnB, const MobilizedBody &amp;toBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findStationVelocityInGround</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>afa9ec2224096fef6e0db59501ae22278</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;stationOnB) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findStationVelocityInAnotherBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a1f3d479797d8352b71f96ab56148152e</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;stationOnBodyB, const MobilizedBody &amp;inBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findStationAccelerationInGround</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a8ba2a691a6db18500bc1031254e1cfa6</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;stationOnB) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findStationAccelerationInAnotherBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a68da8b76ec973b2a6a1fbe3c0e04e726</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;stationOnBodyB, const MobilizedBody &amp;inBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>findStationLocationAndVelocityInGround</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a569bd2d4d9fe22f87e846e9c1ff6de57</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;locationOnB, Vec3 &amp;locationOnGround, Vec3 &amp;velocityInGround) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>findStationLocationVelocityAndAccelerationInGround</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a45a04f5cc66a9abd9acc5a1760e00ee1</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;locationOnB, Vec3 &amp;locationOnGround, Vec3 &amp;velocityInGround, Vec3 &amp;accelerationInGround) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findMassCenterLocationInGround</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ab6968766693e58bf92bbf347bdf93264</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findMassCenterLocationInAnotherBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>acdf314743641d968eb74ec5ce3c7f4b2</anchor>
      <arglist>(const State &amp;state, const MobilizedBody &amp;toBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findStationAtGroundPoint</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a3f448149d218c0e8276f0f7eb2da6170</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;locationInG) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findStationAtAnotherBodyStation</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a55f957b67f76f821236a598e52277eb1</anchor>
      <arglist>(const State &amp;state, const MobilizedBody &amp;fromBodyA, const Vec3 &amp;stationOnA) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findStationAtAnotherBodyOrigin</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>aa64e7083403d6c43b3475e6e0d3bbb99</anchor>
      <arglist>(const State &amp;state, const MobilizedBody &amp;fromBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>findStationAtAnotherBodyMassCenter</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ad8840e5507a1458fd60b133cee0b1e26</anchor>
      <arglist>(const State &amp;state, const MobilizedBody &amp;fromBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>Transform</type>
      <name>findFrameTransformInGround</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>af377c1c03273d1a05edbe2d46b9a02e1</anchor>
      <arglist>(const State &amp;state, const Transform &amp;frameOnB) const</arglist>
    </member>
    <member kind="function">
      <type>SpatialVec</type>
      <name>findFrameVelocityInGround</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>aabf2db26b30809041c6540df491676fb</anchor>
      <arglist>(const State &amp;state, const Transform &amp;frameOnB) const</arglist>
    </member>
    <member kind="function">
      <type>SpatialVec</type>
      <name>findFrameAccelerationInGround</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ac76c3a757c9e7adeb24454a76fbc7b4b</anchor>
      <arglist>(const State &amp;state, const Transform &amp;frameOnB) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>expressVectorInGroundFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a9efd9aee0e4a3535e744715f83c6c3c9</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;vectorInB) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>expressGroundVectorInBodyFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a913ad5c1598a79b090c73d0c0a557bdc</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;vectorInG) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>expressVectorInAnotherBodyFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ac0afe9437f784ebe409e6f1e5a59484d</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;vectorInB, const MobilizedBody &amp;inBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>MassProperties</type>
      <name>expressMassPropertiesInGroundFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a6c6395e5c21ca8001cbdd6af1b874760</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>MassProperties</type>
      <name>expressMassPropertiesInAnotherBodyFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a2fed4689e136fdabde9e4f9a0acba8be</anchor>
      <arglist>(const State &amp;state, const MobilizedBody &amp;inBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>SpatialMat</type>
      <name>calcBodySpatialInertiaMatrixInGround</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a171e2fbde3639d6e4aadfd01ff190bfe</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Inertia</type>
      <name>calcBodyCentralInertia</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a2ca66f6fa629a129889d30a6c1fd9a25</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex objectBodyB) const</arglist>
    </member>
    <member kind="function">
      <type>Inertia</type>
      <name>calcBodyInertiaAboutAnotherBodyStation</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a89210f5f8217e120cda9204f49fd20bd</anchor>
      <arglist>(const State &amp;state, const MobilizedBody &amp;inBodyA, const Vec3 &amp;aboutLocationOnBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>SpatialVec</type>
      <name>calcBodyMomentumAboutBodyOriginInGround</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>afc4029646b0e89372c37eb12a7f63c4c</anchor>
      <arglist>(const State &amp;state)</arglist>
    </member>
    <member kind="function">
      <type>SpatialVec</type>
      <name>calcBodyMomentumAboutBodyMassCenterInGround</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a236a65c58ee5e9ef326c17aff0872b52</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>calcStationToStationDistance</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>aafcd65fb9fd0012cde15a5cf5da17f8a</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;locationOnBodyB, const MobilizedBody &amp;bodyA, const Vec3 &amp;locationOnBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>calcStationToStationDistanceTimeDerivative</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a6a53ab3d757f9dd162d5ab67c9de161f</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;locationOnBodyB, const MobilizedBody &amp;bodyA, const Vec3 &amp;locationOnBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>calcStationToStationDistance2ndTimeDerivative</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ab13f899cc32b64ce26e68dceddb4c2f0</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;locationOnBodyB, const MobilizedBody &amp;bodyA, const Vec3 &amp;locationOnBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>calcBodyMovingPointVelocityInBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a6bc18870ffcc42cc1fcf4ca09a35ef0e</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;locationOnBodyB, const Vec3 &amp;velocityOnBodyB, const MobilizedBody &amp;inBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>calcBodyMovingPointAccelerationInBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a22c1fed08d350b3393ff579e6d4d514d</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;locationOnBodyB, const Vec3 &amp;velocityOnBodyB, const Vec3 &amp;accelerationOnBodyB, const MobilizedBody &amp;inBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>calcMovingPointToPointDistanceTimeDerivative</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a4eace813858818c28c5d2d45ff671f9e</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;locationOnBodyB, const Vec3 &amp;velocityOnBodyB, const MobilizedBody &amp;bodyA, const Vec3 &amp;locationOnBodyA, const Vec3 &amp;velocityOnBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>calcMovingPointToPointDistance2ndTimeDerivative</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a3c95c353fbd4d3dbbb87844b62eaff8a</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;locationOnBodyB, const Vec3 &amp;velocityOnBodyB, const Vec3 &amp;accelerationOnBodyB, const MobilizedBody &amp;bodyA, const Vec3 &amp;locationOnBodyA, const Vec3 &amp;velocityOnBodyA, const Vec3 &amp;accelerationOnBodyA) const</arglist>
    </member>
    <member kind="function">
      <type>const Body &amp;</type>
      <name>getBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ae191d2a2571abd894ce83b883caa52a1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Body &amp;</type>
      <name>updBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a9d923cd8142f9f22fd8c066bc123f5fc</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>MobilizedBody &amp;</type>
      <name>setBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a6ed529dd784c1b31d0758dc108d99733</anchor>
      <arglist>(const Body &amp;)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>addBodyDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a0397e80362252a12c1e1b82fad4119d1</anchor>
      <arglist>(const Transform &amp;X_BD, const DecorativeGeometry &amp;geometry)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>addBodyDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a23fdbd930e0d1b457b34f74bbea48f05</anchor>
      <arglist>(const DecorativeGeometry &amp;geometry)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>addOutboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a318d42af0404b963baaf79aefe5ac2aa</anchor>
      <arglist>(const Transform &amp;X_MD, const DecorativeGeometry &amp;geometry)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getNumOutboardDecorations</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ab772714f86931b362e5d8f5691292ec0</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const DecorativeGeometry &amp;</type>
      <name>getOutboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a7c56c292bfaa4d5b50d6832986d619ae</anchor>
      <arglist>(int i) const</arglist>
    </member>
    <member kind="function">
      <type>DecorativeGeometry &amp;</type>
      <name>updOutboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ab72c9eeb5134c3f0592ff8ad9596c60a</anchor>
      <arglist>(int i)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>addInboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>aac4d45c5d01f527fe78d1cd87ae0ed12</anchor>
      <arglist>(const Transform &amp;X_FD, const DecorativeGeometry &amp;geometry)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getNumInboardDecorations</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>aa9d7c9ff05dbe753f5a178d9ed93c2db</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const DecorativeGeometry &amp;</type>
      <name>getInboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a27301e8e5620f9dd953d4bb747ddc4f0</anchor>
      <arglist>(int i) const</arglist>
    </member>
    <member kind="function">
      <type>DecorativeGeometry &amp;</type>
      <name>updInboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a2aafb9d7c6308942522cdbde6ccf1d06</anchor>
      <arglist>(int i)</arglist>
    </member>
    <member kind="function">
      <type>MobilizedBody &amp;</type>
      <name>setDefaultMassProperties</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a96ad8ad7a2ab01d1f972ac63b75177c4</anchor>
      <arglist>(const MassProperties &amp;m)</arglist>
    </member>
    <member kind="function">
      <type>const MassProperties &amp;</type>
      <name>getDefaultMassProperties</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ae237aca546ee55fdb4fd1928ca197ed2</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>adoptMotion</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a8093a13f5455a64f3992ac46e60baff3</anchor>
      <arglist>(Motion &amp;ownerHandle)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>clearMotion</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ad387e92c292c91370ae34e64d4fb1a25</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>hasMotion</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ab5f71740bc138ad36ee2b1737dd7f611</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Motion &amp;</type>
      <name>getMotion</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a4a874aaf1ec77fd1b1846cd229cb9769</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MobilizedBody &amp;</type>
      <name>setDefaultInboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>aa316ee0d30e68802bbb5c5e5f923b629</anchor>
      <arglist>(const Transform &amp;X_PF)</arglist>
    </member>
    <member kind="function">
      <type>MobilizedBody &amp;</type>
      <name>setDefaultOutboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>aa9ab782162cb3812c0d8210288290624</anchor>
      <arglist>(const Transform &amp;X_BM)</arglist>
    </member>
    <member kind="function">
      <type>const Transform &amp;</type>
      <name>getDefaultInboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a5d3dedc7308a6a96042ee611caf47071</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Transform &amp;</type>
      <name>getDefaultOutboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>aee79ef55bf6fc503c0ab76ed00378a02</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator MobilizedBodyIndex</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a892f8b27504f8940d446764b1bc69758</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MobilizedBodyIndex</type>
      <name>getMobilizedBodyIndex</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ab5466b7e9c0977486bb5700dafeab8c5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const MobilizedBody &amp;</type>
      <name>getParentMobilizedBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>acfe2d4ec5b4b0bebeef99046636b65cf</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const MobilizedBody &amp;</type>
      <name>getBaseMobilizedBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a4b4bda58017f5946686e4db296490354</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const SimbodyMatterSubsystem &amp;</type>
      <name>getMatterSubsystem</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a68f4843b5af99340f73376b57adac452</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SimbodyMatterSubsystem &amp;</type>
      <name>updMatterSubsystem</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>aa31b3864498124e5f5a9874efe68ffd2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isInSubsystem</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a34467d3cf253d9f471d6f02fa0aeb155</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isInSameSubsystem</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a683af835f356b36e0fa805fa55ad0e57</anchor>
      <arglist>(const MobilizedBody &amp;mobod) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isSameMobilizedBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>aa0b11982ceee24c8dc2ff1f07f990712</anchor>
      <arglist>(const MobilizedBody &amp;mobod) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isGround</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>afc0a8e93710e08429faf0a30ce4f5bca</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getLevelInMultibodyTree</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a10f57e8ee4892c1f80f7edf98b5affd3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MobilizedBody &amp;</type>
      <name>cloneForNewParent</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>afd78c277fe5effdde19841f27e76f8c4</anchor>
      <arglist>(MobilizedBody &amp;parent) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getOneFromQPartition</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ac24d141bc1ea41ea40a58acb1dd370a1</anchor>
      <arglist>(const State &amp;state, int which, const Vector &amp;qlike) const</arglist>
    </member>
    <member kind="function">
      <type>Real &amp;</type>
      <name>updOneFromQPartition</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a8752b6394fbbd69b8a2087f431463186</anchor>
      <arglist>(const State &amp;state, int which, Vector &amp;qlike) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getOneFromUPartition</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ac758c9fea23e90df028ecff987f86b4e</anchor>
      <arglist>(const State &amp;state, int which, const Vector &amp;ulike) const</arglist>
    </member>
    <member kind="function">
      <type>Real &amp;</type>
      <name>updOneFromUPartition</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>aec6c2054f25c896719348e9b8b2281e4</anchor>
      <arglist>(const State &amp;state, int which, Vector &amp;ulike) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>applyOneMobilityForce</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a858c75d7638530ef026a19d933c5f237</anchor>
      <arglist>(const State &amp;state, int which, Real f, Vector &amp;mobilityForces) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>convertQForceToUForce</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a80826ca5effd3b26ca2fa69d0b083526</anchor>
      <arglist>(const State &amp;state, const Array_&lt; Real, MobilizerQIndex &gt; &amp;fq, Array_&lt; Real, MobilizerUIndex &gt; &amp;fu) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>applyBodyForce</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a2cd2897843fe3a77563e6edad55936a8</anchor>
      <arglist>(const State &amp;state, const SpatialVec &amp;spatialForceInG, Vector_&lt; SpatialVec &gt; &amp;bodyForcesInG) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>applyBodyTorque</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a21992e4300bde7b4c6e856eca3909f45</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;torqueInG, Vector_&lt; SpatialVec &gt; &amp;bodyForcesInG) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>applyForceToBodyPoint</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a7123ed57681a9258fa205f5726031501</anchor>
      <arglist>(const State &amp;state, const Vec3 &amp;pointInB, const Vec3 &amp;forceInG, Vector_&lt; SpatialVec &gt; &amp;bodyForcesInG) const</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::MobilizedBody::Ball</name>
    <filename>classSimTK_1_1MobilizedBody_1_1Ball.html</filename>
    <base>SimTK::MobilizedBody</base>
    <member kind="function">
      <type></type>
      <name>Ball</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ball.html</anchorfile>
      <anchor>ae57996f299424556b334c82f0da95071</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Ball</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ball.html</anchorfile>
      <anchor>a7c73e5024cf6b1c2b704bbdbd764654e</anchor>
      <arglist>(MobilizedBody &amp;parent, const Transform &amp;X_PF, const Body &amp;bodyInfo, const Transform &amp;X_BM, Direction=Forward)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Ball</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ball.html</anchorfile>
      <anchor>ab4fef9d6fd321c225e703fa4389c61ef</anchor>
      <arglist>(MobilizedBody &amp;parent, const Body &amp;bodyInfo, Direction=Forward)</arglist>
    </member>
    <member kind="function">
      <type>Ball &amp;</type>
      <name>addBodyDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ball.html</anchorfile>
      <anchor>a0c92be0a5bd4651998a8d33457a3eb7f</anchor>
      <arglist>(const Transform &amp;X_BD, const DecorativeGeometry &amp;g)</arglist>
    </member>
    <member kind="function">
      <type>Ball &amp;</type>
      <name>addOutboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ball.html</anchorfile>
      <anchor>af5b8575a73367123fa91f11fca5426a2</anchor>
      <arglist>(const Transform &amp;X_MD, const DecorativeGeometry &amp;g)</arglist>
    </member>
    <member kind="function">
      <type>Ball &amp;</type>
      <name>addInboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ball.html</anchorfile>
      <anchor>a02a8ed4531e3d56bd6459ce113c63a03</anchor>
      <arglist>(const Transform &amp;X_FD, const DecorativeGeometry &amp;g)</arglist>
    </member>
    <member kind="function">
      <type>Ball &amp;</type>
      <name>setDefaultInboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ball.html</anchorfile>
      <anchor>ad5543c04a40a41312a903055a38ce52b</anchor>
      <arglist>(const Transform &amp;X_PF)</arglist>
    </member>
    <member kind="function">
      <type>Ball &amp;</type>
      <name>setDefaultOutboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ball.html</anchorfile>
      <anchor>ad5c92d6a24aed7d9aeb6d5e3c96a508f</anchor>
      <arglist>(const Transform &amp;X_BM)</arglist>
    </member>
    <member kind="function">
      <type>Ball &amp;</type>
      <name>setDefaultRotation</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ball.html</anchorfile>
      <anchor>afc6785be387e06514b6c378c1719009e</anchor>
      <arglist>(const Rotation &amp;R_FM)</arglist>
    </member>
    <member kind="function">
      <type>Rotation</type>
      <name>getDefaultRotation</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ball.html</anchorfile>
      <anchor>ab52893290ffed7715c8fa722830a8ed2</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Ball &amp;</type>
      <name>setDefaultRadius</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ball.html</anchorfile>
      <anchor>a819b98dc3dd066500a0f542fa64573fe</anchor>
      <arglist>(Real r)</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getDefaultRadius</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ball.html</anchorfile>
      <anchor>afd620bee674503b3578c4e87a1ea6324</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>const Quaternion &amp;</type>
      <name>getDefaultQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ball.html</anchorfile>
      <anchor>ad5382dd72d34b50110ff9949de6b851d</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>Ball &amp;</type>
      <name>setDefaultQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ball.html</anchorfile>
      <anchor>aeaf042d31ac435f5854e72548869214f</anchor>
      <arglist>(const Quaternion &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>const Vec4 &amp;</type>
      <name>getQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ball.html</anchorfile>
      <anchor>ac105cb5266a8c16b153eaf9d40426b7c</anchor>
      <arglist>(const State &amp;) const</arglist>
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    <member kind="function">
      <type>const Vec4 &amp;</type>
      <name>getQDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ball.html</anchorfile>
      <anchor>afe7b408e17ece84c55515452e7fca684</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec4 &amp;</type>
      <name>getQDotDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ball.html</anchorfile>
      <anchor>a94f9744574afe96a99fdef5a98b915b3</anchor>
      <arglist>(const State &amp;) const</arglist>
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    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ball.html</anchorfile>
      <anchor>a2972a7405266c887878b21643775123e</anchor>
      <arglist>(const State &amp;) const</arglist>
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    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getUDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ball.html</anchorfile>
      <anchor>a7a662a5ccc023dbc2c00056f1b02cde5</anchor>
      <arglist>(const State &amp;) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ball.html</anchorfile>
      <anchor>a08e776d537be7b6e15b988cef1c0e224</anchor>
      <arglist>(State &amp;, const Vec4 &amp;) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ball.html</anchorfile>
      <anchor>a03b028c3080224e8de515c7081d7d9d6</anchor>
      <arglist>(State &amp;, const Vec3 &amp;) const</arglist>
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    <member kind="function">
      <type>const Vec4 &amp;</type>
      <name>getMyPartQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ball.html</anchorfile>
      <anchor>a54b947c5459e9dd03d772d84e5a1db7d</anchor>
      <arglist>(const State &amp;, const Vector &amp;qlike) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getMyPartU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ball.html</anchorfile>
      <anchor>aa82f848bbf96954685778d6fccdd362e</anchor>
      <arglist>(const State &amp;, const Vector &amp;ulike) const</arglist>
    </member>
    <member kind="function">
      <type>Vec4 &amp;</type>
      <name>updMyPartQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ball.html</anchorfile>
      <anchor>a67141835c012024f0a378f421b01ed1d</anchor>
      <arglist>(const State &amp;, Vector &amp;qlike) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3 &amp;</type>
      <name>updMyPartU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ball.html</anchorfile>
      <anchor>a0363e0fce6510cb8dbc52e4e1e19eccb</anchor>
      <arglist>(const State &amp;, Vector &amp;ulike) const</arglist>
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  <compound kind="class">
    <name>SimTK::MobilizedBody::BendStretch</name>
    <filename>classSimTK_1_1MobilizedBody_1_1BendStretch.html</filename>
    <base>SimTK::MobilizedBody</base>
    <member kind="function">
      <type></type>
      <name>BendStretch</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1BendStretch.html</anchorfile>
      <anchor>a05fbe8362d84683c3028d728637ed63d</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>BendStretch</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1BendStretch.html</anchorfile>
      <anchor>a0f9e25340da8663c38ecc389b927df00</anchor>
      <arglist>(MobilizedBody &amp;parent, const Transform &amp;X_PF, const Body &amp;bodyInfo, const Transform &amp;X_BM, Direction=Forward)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BendStretch</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1BendStretch.html</anchorfile>
      <anchor>a2407bac1759dba742b4ce711667c3710</anchor>
      <arglist>(MobilizedBody &amp;parent, const Body &amp;bodyInfo, Direction=Forward)</arglist>
    </member>
    <member kind="function">
      <type>BendStretch &amp;</type>
      <name>addBodyDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1BendStretch.html</anchorfile>
      <anchor>abb6a3488466065d4bff27815784d2d12</anchor>
      <arglist>(const Transform &amp;X_BD, const DecorativeGeometry &amp;g)</arglist>
    </member>
    <member kind="function">
      <type>BendStretch &amp;</type>
      <name>addOutboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1BendStretch.html</anchorfile>
      <anchor>a9a37320c8f5fc48c2cb90add7bb28a8e</anchor>
      <arglist>(const Transform &amp;X_MD, const DecorativeGeometry &amp;g)</arglist>
    </member>
    <member kind="function">
      <type>BendStretch &amp;</type>
      <name>addInboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1BendStretch.html</anchorfile>
      <anchor>a90f65d234aac645175c4ccae1e69f96f</anchor>
      <arglist>(const Transform &amp;X_FD, const DecorativeGeometry &amp;g)</arglist>
    </member>
    <member kind="function">
      <type>BendStretch &amp;</type>
      <name>setDefaultInboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1BendStretch.html</anchorfile>
      <anchor>aa2c28a555d20fa4c9c666a1b132abacf</anchor>
      <arglist>(const Transform &amp;X_PF)</arglist>
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    <member kind="function">
      <type>BendStretch &amp;</type>
      <name>setDefaultOutboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1BendStretch.html</anchorfile>
      <anchor>aeb12ed7d8c021cbc5cc9cee7ae706fe6</anchor>
      <arglist>(const Transform &amp;X_BM)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::MobilizedBody::Bushing</name>
    <filename>classSimTK_1_1MobilizedBody_1_1Bushing.html</filename>
    <base>SimTK::MobilizedBody</base>
    <member kind="function">
      <type></type>
      <name>Bushing</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Bushing.html</anchorfile>
      <anchor>a773ccf78ab3a1d760ac1b6e175839bd9</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>Bushing</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Bushing.html</anchorfile>
      <anchor>a232fbdc9e57bd975923283ad68dbd106</anchor>
      <arglist>(MobilizedBody &amp;parent, const Transform &amp;X_PF, const Body &amp;bodyInfo, const Transform &amp;X_BM, Direction=Forward)</arglist>
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    <member kind="function">
      <type></type>
      <name>Bushing</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Bushing.html</anchorfile>
      <anchor>a84a18d04209db2150e08a8942b6ebe53</anchor>
      <arglist>(MobilizedBody &amp;parent, const Body &amp;bodyInfo, Direction=Forward)</arglist>
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    <member kind="function">
      <type>Bushing &amp;</type>
      <name>setDefaultInboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Bushing.html</anchorfile>
      <anchor>a684dc45c8f90048bd9ab34e56b216752</anchor>
      <arglist>(const Transform &amp;X_PF)</arglist>
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    <member kind="function">
      <type>Bushing &amp;</type>
      <name>setDefaultOutboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Bushing.html</anchorfile>
      <anchor>ac7a9f5fc192100d7dde1315196a0afdf</anchor>
      <arglist>(const Transform &amp;X_BM)</arglist>
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    <member kind="function">
      <type>Bushing &amp;</type>
      <name>setDefaultTransform</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Bushing.html</anchorfile>
      <anchor>ac0e3b43f6c5bf9f3008318af348bd58a</anchor>
      <arglist>(const Transform &amp;X_FM)</arglist>
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      <type>Transform</type>
      <name>getDefaultTransform</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Bushing.html</anchorfile>
      <anchor>ac9005a1f7c8bf58c9027dd16f9c1623d</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>Bushing &amp;</type>
      <name>addBodyDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Bushing.html</anchorfile>
      <anchor>aa75b9a03c24932fd75f71f2efa3ad671</anchor>
      <arglist>(const Transform &amp;X_BD, const DecorativeGeometry &amp;g)</arglist>
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    <member kind="function">
      <type>Bushing &amp;</type>
      <name>addOutboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Bushing.html</anchorfile>
      <anchor>a6fe2dd50a391f1ef554d0d7a4cafca6a</anchor>
      <arglist>(const Transform &amp;X_MD, const DecorativeGeometry &amp;g)</arglist>
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    <member kind="function">
      <type>Bushing &amp;</type>
      <name>addInboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Bushing.html</anchorfile>
      <anchor>ab5ac08fc23258a88bda7963e49d485f0</anchor>
      <arglist>(const Transform &amp;X_FD, const DecorativeGeometry &amp;g)</arglist>
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    <member kind="function">
      <type>const Vec6 &amp;</type>
      <name>getDefaultQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Bushing.html</anchorfile>
      <anchor>a122fef7d4108a3d47fcd52cb7432e7fc</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>Bushing &amp;</type>
      <name>setDefaultQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Bushing.html</anchorfile>
      <anchor>aa2d9c1ead040752d404482b2ce32c01c</anchor>
      <arglist>(const Vec6 &amp;q)</arglist>
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      <type>const Vec6 &amp;</type>
      <name>getQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Bushing.html</anchorfile>
      <anchor>a39f665dec2fac1d103836d023d714e2b</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>const Vec6 &amp;</type>
      <name>getQDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Bushing.html</anchorfile>
      <anchor>a45dc9eee5b775f15e72c795e534b1a0e</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const Vec6 &amp;</type>
      <name>getQDotDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Bushing.html</anchorfile>
      <anchor>a0a92e1e78a7738d8c80dc0e54d40fe4b</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const Vec6 &amp;</type>
      <name>getU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Bushing.html</anchorfile>
      <anchor>a68583fe30a520996602fda08feffc0fa</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const Vec6 &amp;</type>
      <name>getUDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Bushing.html</anchorfile>
      <anchor>a9a37fd4c0aeca15c1530e1228d2eea7c</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>void</type>
      <name>setQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Bushing.html</anchorfile>
      <anchor>a7607a6546e604ec5c6be7c795a403791</anchor>
      <arglist>(State &amp;state, const Vec6 &amp;q) const</arglist>
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      <type>void</type>
      <name>setU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Bushing.html</anchorfile>
      <anchor>a47a1a2422c995ec3106d92f57546f868</anchor>
      <arglist>(State &amp;state, const Vec6 &amp;u) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec6 &amp;</type>
      <name>getMyPartQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Bushing.html</anchorfile>
      <anchor>acc82d406057b7a892971e0d170611813</anchor>
      <arglist>(const State &amp;state, const Vector &amp;qlike) const</arglist>
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    <member kind="function">
      <type>const Vec6 &amp;</type>
      <name>getMyPartU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Bushing.html</anchorfile>
      <anchor>a7c8aafe1e587813824a259b2974200a0</anchor>
      <arglist>(const State &amp;state, const Vector &amp;ulike) const</arglist>
    </member>
    <member kind="function">
      <type>Vec6 &amp;</type>
      <name>updMyPartQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Bushing.html</anchorfile>
      <anchor>a1052233dae2b537970f3bcd1061956b4</anchor>
      <arglist>(const State &amp;state, Vector &amp;qlike) const</arglist>
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      <type>Vec6 &amp;</type>
      <name>updMyPartU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Bushing.html</anchorfile>
      <anchor>acde22912886e57735e8070db1cd69411</anchor>
      <arglist>(const State &amp;state, Vector &amp;ulike) const</arglist>
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    <member kind="function">
      <type>const Vec6 &amp;</type>
      <name>getMyPartQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Bushing.html</anchorfile>
      <anchor>acc82d406057b7a892971e0d170611813</anchor>
      <arglist>(const State &amp;state, const Vector &amp;qlike) const</arglist>
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      <type>const Vec6 &amp;</type>
      <name>getMyPartU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Bushing.html</anchorfile>
      <anchor>a7c8aafe1e587813824a259b2974200a0</anchor>
      <arglist>(const State &amp;state, const Vector &amp;ulike) const</arglist>
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    <member kind="function">
      <type>Vec6 &amp;</type>
      <name>updMyPartQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Bushing.html</anchorfile>
      <anchor>a1052233dae2b537970f3bcd1061956b4</anchor>
      <arglist>(const State &amp;state, Vector &amp;qlike) const</arglist>
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    <member kind="function">
      <type>Vec6 &amp;</type>
      <name>updMyPartU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Bushing.html</anchorfile>
      <anchor>acde22912886e57735e8070db1cd69411</anchor>
      <arglist>(const State &amp;state, Vector &amp;ulike) const</arglist>
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  <compound kind="class">
    <name>SimTK::MobilizedBody::Custom</name>
    <filename>classSimTK_1_1MobilizedBody_1_1Custom.html</filename>
    <base>SimTK::MobilizedBody</base>
    <class kind="class">SimTK::MobilizedBody::Custom::Implementation</class>
    <member kind="function">
      <type></type>
      <name>Custom</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom.html</anchorfile>
      <anchor>ae4ebd2c30111f77334a07cef5d26c446</anchor>
      <arglist>()</arglist>
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      <type></type>
      <name>Custom</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom.html</anchorfile>
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      <arglist>(MobilizedBody &amp;parent, Implementation *implementation, const Transform &amp;X_PF, const Body &amp;bodyInfo, const Transform &amp;X_BM, Direction direction=Forward)</arglist>
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    <member kind="function">
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom.html</anchorfile>
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      <arglist>(MobilizedBody &amp;parent, Implementation *implementation, const Body &amp;bodyInfo, Direction direction=Forward)</arglist>
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    <member kind="function" protection="protected">
      <type>const Implementation &amp;</type>
      <name>getImplementation</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function" protection="protected">
      <type>Implementation &amp;</type>
      <name>updImplementation</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom.html</anchorfile>
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      <arglist>()</arglist>
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  <compound kind="class">
    <name>SimTK::MobilizedBody::Custom::Implementation</name>
    <filename>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</filename>
    <base>PIMPLHandle&lt; Implementation, ImplementationImpl &gt;</base>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
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      <arglist>()</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual Implementation *</type>
      <name>clone</name>
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      <arglist>() const =0</arglist>
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      <name>Implementation</name>
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      <anchor>afd1c8f179855ba4b5c60b6885d1c9887</anchor>
      <arglist>(SimbodyMatterSubsystem &amp;, int nu, int nq, int nAngles=0)</arglist>
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    <member kind="function">
      <type>Vector</type>
      <name>getQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
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      <arglist>(const State &amp;s) const</arglist>
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    <member kind="function">
      <type>Vector</type>
      <name>getU</name>
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      <arglist>(const State &amp;s) const</arglist>
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    <member kind="function">
      <type>Vector</type>
      <name>getQDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a89338b9d62686d30415b5336068ad617</anchor>
      <arglist>(const State &amp;s) const</arglist>
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    <member kind="function">
      <type>Vector</type>
      <name>getUDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
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      <arglist>(const State &amp;s) const</arglist>
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      <type>Vector</type>
      <name>getQDotDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
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      <arglist>(const State &amp;s) const</arglist>
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    <member kind="function">
      <type>Transform</type>
      <name>getMobilizerTransform</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a7edd64ff405e049d8fb1ef74e15f1b15</anchor>
      <arglist>(const State &amp;s) const</arglist>
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    <member kind="function">
      <type>SpatialVec</type>
      <name>getMobilizerVelocity</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a790476ccd76d755803c7e4cd748b9b5d</anchor>
      <arglist>(const State &amp;s) const</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>getUseEulerAngles</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
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      <arglist>(const State &amp;s) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>invalidateTopologyCache</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a3b82f3a7c075fc5f0e4a30713883b51d</anchor>
      <arglist>() const</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual Transform</type>
      <name>calcMobilizerTransformFromQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a1443aac6089cc6f2c1e85c8b5aa4f4c2</anchor>
      <arglist>(const State &amp;s, int nq, const Real *q) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual SpatialVec</type>
      <name>multiplyByHMatrix</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a3e218c380d12a9f4af73d5072cfc6034</anchor>
      <arglist>(const State &amp;s, int nu, const Real *u) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>multiplyByHTranspose</name>
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      <arglist>(const State &amp;s, const SpatialVec &amp;F, int nu, Real *f) const =0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual SpatialVec</type>
      <name>multiplyByHDotMatrix</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a9263c8eed08cf33cd00f31fdb2301146</anchor>
      <arglist>(const State &amp;s, int nu, const Real *u) const =0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>multiplyByHDotTranspose</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>af3e9247d1a717df881ed2654300ee9ef</anchor>
      <arglist>(const State &amp;s, const SpatialVec &amp;F, int nu, Real *f) const =0</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>multiplyByN</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a7f488e9accf1b4f9955197e3698e2158</anchor>
      <arglist>(const State &amp;s, bool transposeMatrix, int nIn, const Real *in, int nOut, Real *out) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>multiplyByNInv</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
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      <arglist>(const State &amp;s, bool transposeMatrix, int nIn, const Real *in, int nOut, Real *out) const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>multiplyByNDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
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      <arglist>(const State &amp;s, bool transposeMatrix, int nIn, const Real *in, int nOut, Real *out) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setQToFitTransform</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a53a1cfbe626258160c8e724962a5cd85</anchor>
      <arglist>(const State &amp;, const Transform &amp;X_FM, int nq, Real *q) const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setUToFitVelocity</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a8187618b3841d88dd617a07c14110589</anchor>
      <arglist>(const State &amp;, const SpatialVec &amp;V_FM, int nu, Real *u) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>calcDecorativeGeometryAndAppend</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a9ea271909c3354dbb277522b9c3a64aa</anchor>
      <arglist>(const State &amp;s, Stage stage, Array_&lt; DecorativeGeometry &gt; &amp;geom) const</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual Transform</type>
      <name>calcMobilizerTransformFromQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a1443aac6089cc6f2c1e85c8b5aa4f4c2</anchor>
      <arglist>(const State &amp;s, int nq, const Real *q) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual SpatialVec</type>
      <name>multiplyByHMatrix</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a3e218c380d12a9f4af73d5072cfc6034</anchor>
      <arglist>(const State &amp;s, int nu, const Real *u) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>multiplyByHTranspose</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a7d85e17cf561d35aba399e1b3a0c87b5</anchor>
      <arglist>(const State &amp;s, const SpatialVec &amp;F, int nu, Real *f) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual SpatialVec</type>
      <name>multiplyByHDotMatrix</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a9263c8eed08cf33cd00f31fdb2301146</anchor>
      <arglist>(const State &amp;s, int nu, const Real *u) const =0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>multiplyByHDotTranspose</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>af3e9247d1a717df881ed2654300ee9ef</anchor>
      <arglist>(const State &amp;s, const SpatialVec &amp;F, int nu, Real *f) const =0</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>multiplyByN</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a7f488e9accf1b4f9955197e3698e2158</anchor>
      <arglist>(const State &amp;s, bool transposeMatrix, int nIn, const Real *in, int nOut, Real *out) const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>multiplyByNInv</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
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      <arglist>(const State &amp;s, bool transposeMatrix, int nIn, const Real *in, int nOut, Real *out) const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>multiplyByNDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
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      <arglist>(const State &amp;s, bool transposeMatrix, int nIn, const Real *in, int nOut, Real *out) const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setQToFitTransform</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a53a1cfbe626258160c8e724962a5cd85</anchor>
      <arglist>(const State &amp;, const Transform &amp;X_FM, int nq, Real *q) const</arglist>
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      <type>virtual void</type>
      <name>setUToFitVelocity</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a8187618b3841d88dd617a07c14110589</anchor>
      <arglist>(const State &amp;, const SpatialVec &amp;V_FM, int nu, Real *u) const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>calcDecorativeGeometryAndAppend</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
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      <arglist>(const State &amp;s, Stage stage, Array_&lt; DecorativeGeometry &gt; &amp;geom) const</arglist>
    </member>
    <member kind="friend">
      <type>friend class</type>
      <name>MobilizedBody::CustomImpl</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
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      <arglist></arglist>
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      <type>virtual void</type>
      <name>realizeTopology</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
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      <arglist>(State &amp;) const</arglist>
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      <type>virtual void</type>
      <name>realizeModel</name>
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      <arglist>(State &amp;) const</arglist>
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      <type>virtual void</type>
      <name>realizeInstance</name>
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      <arglist>(const State &amp;) const</arglist>
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      <type>virtual void</type>
      <name>realizeTime</name>
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      <arglist>(const State &amp;) const</arglist>
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      <type>virtual void</type>
      <name>realizePosition</name>
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      <anchor>a4ba80865dc2ae89f2b4f96f1d1cca906</anchor>
      <arglist>(const State &amp;) const</arglist>
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      <type>virtual void</type>
      <name>realizeVelocity</name>
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      <arglist>(const State &amp;) const</arglist>
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      <type>virtual void</type>
      <name>realizeDynamics</name>
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      <arglist>(const State &amp;) const</arglist>
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      <type>virtual void</type>
      <name>realizeAcceleration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a54348bdf67fbe8dfcf1b5a3361e7743c</anchor>
      <arglist>(const State &amp;) const</arglist>
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      <type>virtual void</type>
      <name>realizeReport</name>
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      <arglist>(const State &amp;) const</arglist>
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  <compound kind="class">
    <name>SimTK::MobilizedBody::Cylinder</name>
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    <base>SimTK::MobilizedBody</base>
    <member kind="function">
      <type></type>
      <name>Cylinder</name>
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      <arglist>()</arglist>
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      <type></type>
      <name>Cylinder</name>
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      <arglist>(MobilizedBody &amp;parent, const Transform &amp;X_PF, const Body &amp;bodyInfo, const Transform &amp;X_BM, Direction=Forward)</arglist>
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      <type></type>
      <name>Cylinder</name>
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      <arglist>(MobilizedBody &amp;parent, const Body &amp;bodyInfo, Direction=Forward)</arglist>
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      <type>Cylinder &amp;</type>
      <name>addBodyDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Cylinder.html</anchorfile>
      <anchor>a8b2e6e74c4ff5e6784213ee94665e36f</anchor>
      <arglist>(const Transform &amp;X_BD, const DecorativeGeometry &amp;g)</arglist>
    </member>
    <member kind="function">
      <type>Cylinder &amp;</type>
      <name>addOutboardDecoration</name>
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      <anchor>a1eec4b5e4b0f2eab8e4238f4d64f9b6a</anchor>
      <arglist>(const Transform &amp;X_MD, const DecorativeGeometry &amp;g)</arglist>
    </member>
    <member kind="function">
      <type>Cylinder &amp;</type>
      <name>addInboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Cylinder.html</anchorfile>
      <anchor>af1139f9e13dcbcf4145c26d9a13adce1</anchor>
      <arglist>(const Transform &amp;X_FD, const DecorativeGeometry &amp;g)</arglist>
    </member>
    <member kind="function">
      <type>Cylinder &amp;</type>
      <name>setDefaultInboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Cylinder.html</anchorfile>
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      <arglist>(const Transform &amp;X_PF)</arglist>
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    <member kind="function">
      <type>Cylinder &amp;</type>
      <name>setDefaultOutboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Cylinder.html</anchorfile>
      <anchor>a97d782c201e7c1a263d27b7f0f9d36f5</anchor>
      <arglist>(const Transform &amp;X_BM)</arglist>
    </member>
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  <compound kind="class">
    <name>SimTK::MobilizedBody::Ellipsoid</name>
    <filename>classSimTK_1_1MobilizedBody_1_1Ellipsoid.html</filename>
    <base>SimTK::MobilizedBody</base>
    <member kind="function">
      <type></type>
      <name>Ellipsoid</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ellipsoid.html</anchorfile>
      <anchor>a3f47ae2658aa03961c301147d808b82b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Ellipsoid</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ellipsoid.html</anchorfile>
      <anchor>a6781b6b1db45f68168401bbeec138856</anchor>
      <arglist>(MobilizedBody &amp;parent, const Transform &amp;X_PF, const Body &amp;bodyInfo, const Transform &amp;X_BM, const Vec3 &amp;radii, Direction=Forward)</arglist>
    </member>
    <member kind="function">
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      <anchor>aa7b655c70d4bd7dd6995a12888e58e04</anchor>
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      <arglist>(const Vec3 &amp;radii)</arglist>
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      <arglist>() const</arglist>
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      <name>setDefaultRotation</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ellipsoid.html</anchorfile>
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      <arglist>(const Rotation &amp;R_FM)</arglist>
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      <arglist>() const</arglist>
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      <name>addBodyDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ellipsoid.html</anchorfile>
      <anchor>a4670945bdf0f12ca6cf7aac11ea62e1b</anchor>
      <arglist>(const Transform &amp;X_BD, const DecorativeGeometry &amp;g)</arglist>
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      <anchor>ac97b222a7c9074c219e566c53ff9f3fb</anchor>
      <arglist>(const Transform &amp;X_MD, const DecorativeGeometry &amp;g)</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ellipsoid.html</anchorfile>
      <anchor>a467e33acb757e6eec8544f480b7fc366</anchor>
      <arglist>(const Transform &amp;X_FD, const DecorativeGeometry &amp;g)</arglist>
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      <arglist>(const Transform &amp;X_PF)</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ellipsoid.html</anchorfile>
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      <arglist>() const</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ellipsoid.html</anchorfile>
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      <arglist>()</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ellipsoid.html</anchorfile>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ellipsoid.html</anchorfile>
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      <arglist>(const State &amp;) const</arglist>
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      <arglist>(const State &amp;) const</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ellipsoid.html</anchorfile>
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      <arglist>(const State &amp;) const</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ellipsoid.html</anchorfile>
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      <arglist>(State &amp;, const Vec3 &amp;) const</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ellipsoid.html</anchorfile>
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      <arglist>(const State &amp;, const Vector &amp;qlike) const</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ellipsoid.html</anchorfile>
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      <arglist>(const State &amp;, const Vector &amp;ulike) const</arglist>
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      <arglist>(const State &amp;, Vector &amp;qlike) const</arglist>
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      <arglist>(const State &amp;, Vector &amp;ulike) const</arglist>
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      <arglist>(const State &amp;, const Vector &amp;qlike) const</arglist>
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      <arglist>(const State &amp;, const Vector &amp;ulike) const</arglist>
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      <arglist>(const State &amp;, Vector &amp;qlike) const</arglist>
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      <arglist>(const State &amp;, Vector &amp;ulike) const</arglist>
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      <arglist>()</arglist>
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      <arglist>(const Transform &amp;X_BD, const DecorativeGeometry &amp;g)</arglist>
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      <arglist>(const Transform &amp;X_MD, const DecorativeGeometry &amp;g)</arglist>
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      <arglist>(const Transform &amp;X_FD, const DecorativeGeometry &amp;g)</arglist>
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      <arglist>(const Transform &amp;X_PF)</arglist>
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      <arglist>(const Transform &amp;X_BM)</arglist>
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      <arglist>()</arglist>
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      <anchor>af94fd76215f538a46e77ae72aadb1929</anchor>
      <arglist>(MobilizedBody &amp;parent, const Body &amp;bodyInfo, int nmobilities, const std::vector&lt; const Function * &gt; &amp;functions, const std::vector&lt; std::vector&lt; int &gt; &gt; &amp;coordIndices, Direction direction=Forward)</arglist>
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      <arglist>(MobilizedBody &amp;parent, const Transform &amp;X_PF, const Body &amp;bodyInfo, const Transform &amp;X_BM, int nmobilities, const Array_&lt; const Function * &gt; &amp;functions, const Array_&lt; Array_&lt; int &gt; &gt; &amp;coordIndices, Direction direction=Forward)</arglist>
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      <arglist>(MobilizedBody &amp;parent, const Transform &amp;X_PF, const Body &amp;bodyInfo, const Transform &amp;X_BM, int nmobilities, const std::vector&lt; const Function * &gt; &amp;functions, const std::vector&lt; std::vector&lt; int &gt; &gt; &amp;coordIndices, Direction direction=Forward)</arglist>
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      <arglist>(MobilizedBody &amp;parent, const Body &amp;bodyInfo, int nmobilities, const Array_&lt; const Function * &gt; &amp;functions, const Array_&lt; Array_&lt; int &gt; &gt; &amp;coordIndices, const Array_&lt; Vec3 &gt; &amp;axes, Direction direction=Forward)</arglist>
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      <anchor>ab8d4c5c8f08f4ac766d81df1ede449f3</anchor>
      <arglist>(MobilizedBody &amp;parent, const Body &amp;bodyInfo, int nmobilities, const std::vector&lt; const Function * &gt; &amp;functions, const std::vector&lt; std::vector&lt; int &gt; &gt; &amp;coordIndices, const std::vector&lt; Vec3 &gt; &amp;axes, Direction direction=Forward)</arglist>
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      <arglist>(MobilizedBody &amp;parent, const Transform &amp;X_PF, const Body &amp;bodyInfo, const Transform &amp;X_BM, int nmobilities, const Array_&lt; const Function * &gt; &amp;functions, const Array_&lt; Array_&lt; int &gt; &gt; &amp;coordIndices, const Array_&lt; Vec3 &gt; &amp;axes, Direction direction=Forward)</arglist>
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      <arglist>(MobilizedBody &amp;parent, const Transform &amp;X_PF, const Body &amp;bodyInfo, const Transform &amp;X_BM, int nmobilities, const std::vector&lt; const Function * &gt; &amp;functions, const std::vector&lt; std::vector&lt; int &gt; &gt; &amp;coordIndices, const std::vector&lt; Vec3 &gt; &amp;axes, Direction direction=Forward)</arglist>
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    <member kind="function">
      <type></type>
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      <arglist>()</arglist>
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    <member kind="function">
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      <name>Gimbal</name>
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      <arglist>(MobilizedBody &amp;parent, const Transform &amp;X_PF, const Body &amp;bodyInfo, const Transform &amp;X_BM, Direction=Forward)</arglist>
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    <member kind="function">
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      <name>Gimbal</name>
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      <arglist>(MobilizedBody &amp;parent, const Body &amp;bodyInfo, Direction=Forward)</arglist>
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    <member kind="function">
      <type>Gimbal &amp;</type>
      <name>setDefaultInboardFrame</name>
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      <arglist>(const Transform &amp;X_PF)</arglist>
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    <member kind="function">
      <type>Gimbal &amp;</type>
      <name>setDefaultOutboardFrame</name>
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      <arglist>(const Transform &amp;X_BM)</arglist>
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    <member kind="function">
      <type>Gimbal &amp;</type>
      <name>setDefaultRotation</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Gimbal.html</anchorfile>
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      <arglist>(const Rotation &amp;R_FM)</arglist>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>Gimbal &amp;</type>
      <name>addBodyDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Gimbal.html</anchorfile>
      <anchor>a02ba77334e8bb735953fcc4b6c2879e1</anchor>
      <arglist>(const Transform &amp;X_BD, const DecorativeGeometry &amp;g)</arglist>
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    <member kind="function">
      <type>Gimbal &amp;</type>
      <name>addOutboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Gimbal.html</anchorfile>
      <anchor>afd8ae5b4aa4df9490290beded6c75ff5</anchor>
      <arglist>(const Transform &amp;X_MD, const DecorativeGeometry &amp;g)</arglist>
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      <name>addInboardDecoration</name>
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      <anchor>a8edd98add5d43d7b8923fa714a37310c</anchor>
      <arglist>(const Transform &amp;X_FD, const DecorativeGeometry &amp;g)</arglist>
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      <name>setDefaultRadius</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Gimbal.html</anchorfile>
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      <arglist>(Real r)</arglist>
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      <type>Real</type>
      <name>getDefaultRadius</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Gimbal.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>const Vec3 &amp;</type>
      <name>getDefaultQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Gimbal.html</anchorfile>
      <anchor>ae332b7cb65bc718fbac2e5765aaaafe6</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>Gimbal &amp;</type>
      <name>setDefaultQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Gimbal.html</anchorfile>
      <anchor>a6c94098265b541aef0d89efccc177600</anchor>
      <arglist>(const Vec3 &amp;q)</arglist>
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      <type>const Vec3 &amp;</type>
      <name>getQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Gimbal.html</anchorfile>
      <anchor>aa3cdf18bbb22b8a8fa4b4b7e9a27f90b</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const Vec3 &amp;</type>
      <name>getQDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Gimbal.html</anchorfile>
      <anchor>aa9983c909cccf9186f77e2cab6838465</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const Vec3 &amp;</type>
      <name>getQDotDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Gimbal.html</anchorfile>
      <anchor>aede0354037bd76c8b6405e2b6c58ae92</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const Vec3 &amp;</type>
      <name>getU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Gimbal.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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      <type>const Vec3 &amp;</type>
      <name>getUDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Gimbal.html</anchorfile>
      <anchor>a1d5a91b77e7825978d3255cc7307470c</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>void</type>
      <name>setQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Gimbal.html</anchorfile>
      <anchor>af8172b8edd9690fd32df8ace4ed90cc9</anchor>
      <arglist>(State &amp;state, const Vec3 &amp;q) const</arglist>
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      <type>void</type>
      <name>setU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Gimbal.html</anchorfile>
      <anchor>af5cab18f261a5897739657908c1b3faf</anchor>
      <arglist>(State &amp;state, const Vec3 &amp;u) const</arglist>
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    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getMyPartQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Gimbal.html</anchorfile>
      <anchor>a7dd64e28e35f0da2460ecde7753eb0e8</anchor>
      <arglist>(const State &amp;state, const Vector &amp;qlike) const</arglist>
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    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getMyPartU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Gimbal.html</anchorfile>
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      <arglist>(const State &amp;state, const Vector &amp;ulike) const</arglist>
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    <member kind="function">
      <type>Vec3 &amp;</type>
      <name>updMyPartQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Gimbal.html</anchorfile>
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      <arglist>(const State &amp;state, Vector &amp;qlike) const</arglist>
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      <type>Vec3 &amp;</type>
      <name>updMyPartU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Gimbal.html</anchorfile>
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      <arglist>(const State &amp;state, Vector &amp;ulike) const</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1Gimbal.html</anchorfile>
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      <arglist>(const State &amp;state, const Vector &amp;qlike) const</arglist>
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      <arglist>(const State &amp;state, const Vector &amp;ulike) const</arglist>
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      <arglist>(const State &amp;state, Vector &amp;qlike) const</arglist>
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      <arglist>(const State &amp;state, Vector &amp;ulike) const</arglist>
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    <member kind="function">
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      <arglist>()</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ground.html</anchorfile>
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      <arglist>(const Transform &amp;X_GD, const DecorativeGeometry &amp;artwork)</arglist>
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    <base>SimTK::MobilizedBody</base>
    <member kind="function">
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      <name>LineOrientation</name>
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      <arglist>()</arglist>
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      <arglist>(MobilizedBody &amp;parent, const Transform &amp;X_PF, const Body &amp;bodyInfo, const Transform &amp;X_BM, Direction=Forward)</arglist>
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      <arglist>(MobilizedBody &amp;parent, const Body &amp;bodyInfo, Direction=Forward)</arglist>
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      <arglist>(const Transform &amp;X_BD, const DecorativeGeometry &amp;g)</arglist>
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      <arglist>(const Transform &amp;X_MD, const DecorativeGeometry &amp;g)</arglist>
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      <arglist>(const Transform &amp;X_FD, const DecorativeGeometry &amp;g)</arglist>
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      <arglist>(const Transform &amp;X_PF)</arglist>
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      <arglist>(const Transform &amp;X_BM)</arglist>
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      <arglist>(const Rotation &amp;R_FM)</arglist>
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      <arglist>() const</arglist>
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      <type>const Quaternion &amp;</type>
      <name>getDefaultQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1LineOrientation.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>LineOrientation &amp;</type>
      <name>setDefaultQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1LineOrientation.html</anchorfile>
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      <arglist>(const Quaternion &amp;q)</arglist>
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      <name>getQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1LineOrientation.html</anchorfile>
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      <arglist>(const State &amp;) const</arglist>
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      <name>getQDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1LineOrientation.html</anchorfile>
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      <arglist>(const State &amp;) const</arglist>
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      <name>getQDotDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1LineOrientation.html</anchorfile>
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      <arglist>(const State &amp;) const</arglist>
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      <name>getU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1LineOrientation.html</anchorfile>
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      <arglist>(const State &amp;) const</arglist>
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      <name>getUDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1LineOrientation.html</anchorfile>
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      <arglist>(const State &amp;) const</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1LineOrientation.html</anchorfile>
      <anchor>a30333af20bc516867088c3c0bdf16eff</anchor>
      <arglist>(State &amp;, const Vec4 &amp;) const</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1LineOrientation.html</anchorfile>
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      <arglist>(State &amp;, const Vec2 &amp;) const</arglist>
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    <member kind="function">
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      <name>getMyPartQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1LineOrientation.html</anchorfile>
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      <arglist>(const State &amp;, const Vector &amp;qlike) const</arglist>
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      <name>getMyPartU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1LineOrientation.html</anchorfile>
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      <arglist>(const State &amp;, const Vector &amp;ulike) const</arglist>
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      <type>Vec4 &amp;</type>
      <name>updMyPartQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1LineOrientation.html</anchorfile>
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      <arglist>(const State &amp;, Vector &amp;qlike) const</arglist>
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      <arglist>(const State &amp;, Vector &amp;ulike) const</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::MobilizedBody::Pin</name>
    <filename>classSimTK_1_1MobilizedBody_1_1Pin.html</filename>
    <base>SimTK::MobilizedBody</base>
    <member kind="function">
      <type></type>
      <name>Pin</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Pin.html</anchorfile>
      <anchor>a9227c5cd311a9c750770a989726eb5a3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Pin</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Pin.html</anchorfile>
      <anchor>a21aee3497ccbd524bf5cc203d88561b5</anchor>
      <arglist>(MobilizedBody &amp;parent, const Transform &amp;X_PF, const Body &amp;bodyInfo, const Transform &amp;X_BM, Direction=Forward)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Pin</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Pin.html</anchorfile>
      <anchor>a6caa4654e0e5525d5536ee621d39eb88</anchor>
      <arglist>(MobilizedBody &amp;parent, const Body &amp;bodyInfo, Direction=Forward)</arglist>
    </member>
    <member kind="function">
      <type>Pin &amp;</type>
      <name>setDefaultAngle</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Pin.html</anchorfile>
      <anchor>a6daf32d252d4d16007166cee6149596f</anchor>
      <arglist>(Real angleInRad)</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getDefaultAngle</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Pin.html</anchorfile>
      <anchor>a6c40e2deadd42d5be30190c93a5ca16e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setAngle</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Pin.html</anchorfile>
      <anchor>af57cfa79a192d5cc80637b4ca4eec837</anchor>
      <arglist>(State &amp;s, Real angleInRad)</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getAngle</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Pin.html</anchorfile>
      <anchor>a0867ec6169a67c1313f8f05d0c943679</anchor>
      <arglist>(const State &amp;s) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setRate</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Pin.html</anchorfile>
      <anchor>a48d7af8a0edc94b3abd16b5826f73983</anchor>
      <arglist>(State &amp;s, Real rateInRadPerTime)</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getRate</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Pin.html</anchorfile>
      <anchor>a84711378e0ac86653789348f4e9ee8e4</anchor>
      <arglist>(const State &amp;s) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getAppliedPinTorque</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Pin.html</anchorfile>
      <anchor>a255eb1cfd711abc530f0524a437a7d42</anchor>
      <arglist>(const State &amp;s, const Vector &amp;mobilityForces) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>applyPinTorque</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Pin.html</anchorfile>
      <anchor>a1ee17d55185b1c86eaf510b9e1861b84</anchor>
      <arglist>(const State &amp;s, Real torque, Vector &amp;mobilityForces) const</arglist>
    </member>
    <member kind="function">
      <type>Pin &amp;</type>
      <name>setDefaultQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Pin.html</anchorfile>
      <anchor>aa9016668491e08ee91c2abe083a9636c</anchor>
      <arglist>(Real)</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getDefaultQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Pin.html</anchorfile>
      <anchor>aeba7db56436581d3c4fef59570c29921</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Pin.html</anchorfile>
      <anchor>ade6087a489c51766880a377fe5274966</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getQDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Pin.html</anchorfile>
      <anchor>a74cb56d0ac33810dd697f64b1319ae74</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getQDotDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Pin.html</anchorfile>
      <anchor>a997e4cd0fd25bc0c05d30eaa793820c7</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Pin.html</anchorfile>
      <anchor>afd74ee8ec4a0d31b2c83f0c70b6f96e2</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getUDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Pin.html</anchorfile>
      <anchor>abd38c8d9562db75ed179f4720c828b06</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Pin.html</anchorfile>
      <anchor>a8cab58e6c4bf9858527f20990196dd9a</anchor>
      <arglist>(State &amp;, Real) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Pin.html</anchorfile>
      <anchor>aaf2aa30fb085e803718e992786817337</anchor>
      <arglist>(State &amp;, Real) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getMyPartQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Pin.html</anchorfile>
      <anchor>ae159e8ab8cce64bbb3d7d4af51aba96e</anchor>
      <arglist>(const State &amp;, const Vector &amp;qlike) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getMyPartU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Pin.html</anchorfile>
      <anchor>a8a3fbeb53267cac6e28c4bf308e7eb69</anchor>
      <arglist>(const State &amp;, const Vector &amp;ulike) const</arglist>
    </member>
    <member kind="function">
      <type>Real &amp;</type>
      <name>updMyPartQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Pin.html</anchorfile>
      <anchor>ad6483afc833fa9106bc7ce1ac8dde0ac</anchor>
      <arglist>(const State &amp;, Vector &amp;qlike) const</arglist>
    </member>
    <member kind="function">
      <type>Real &amp;</type>
      <name>updMyPartU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Pin.html</anchorfile>
      <anchor>a92993571c8827988a69879fc5e83b936</anchor>
      <arglist>(const State &amp;, Vector &amp;ulike) const</arglist>
    </member>
    <member kind="function">
      <type>Pin &amp;</type>
      <name>addBodyDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Pin.html</anchorfile>
      <anchor>a91ccff6ab8bd8214cb92361e02e6a3d4</anchor>
      <arglist>(const Transform &amp;X_BD, const DecorativeGeometry &amp;g)</arglist>
    </member>
    <member kind="function">
      <type>Pin &amp;</type>
      <name>addOutboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Pin.html</anchorfile>
      <anchor>a8bd13f86529ba11a1436f647c7f82608</anchor>
      <arglist>(const Transform &amp;X_MD, const DecorativeGeometry &amp;g)</arglist>
    </member>
    <member kind="function">
      <type>Pin &amp;</type>
      <name>addInboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Pin.html</anchorfile>
      <anchor>a48d5e140ee38a976bf4529f523fd1cc6</anchor>
      <arglist>(const Transform &amp;X_FD, const DecorativeGeometry &amp;g)</arglist>
    </member>
    <member kind="function">
      <type>Pin &amp;</type>
      <name>setDefaultInboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Pin.html</anchorfile>
      <anchor>adb522874300805ca7e60a6c2b65ede41</anchor>
      <arglist>(const Transform &amp;X_PF)</arglist>
    </member>
    <member kind="function">
      <type>Pin &amp;</type>
      <name>setDefaultOutboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Pin.html</anchorfile>
      <anchor>afd614dfc39917fc3d6b1e6112fe344e8</anchor>
      <arglist>(const Transform &amp;X_BM)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::MobilizedBody::Planar</name>
    <filename>classSimTK_1_1MobilizedBody_1_1Planar.html</filename>
    <base>SimTK::MobilizedBody</base>
    <member kind="function">
      <type></type>
      <name>Planar</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Planar.html</anchorfile>
      <anchor>ae595d69bd7800478c809b05bb4a49e5a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Planar</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Planar.html</anchorfile>
      <anchor>a8e476ce50e450da7126efa5eb077d180</anchor>
      <arglist>(MobilizedBody &amp;parent, const Transform &amp;X_PF, const Body &amp;bodyInfo, const Transform &amp;X_BM, Direction=Forward)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Planar</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Planar.html</anchorfile>
      <anchor>a89c4748f154572041ea3e6c0a9941d0c</anchor>
      <arglist>(MobilizedBody &amp;parent, const Body &amp;bodyInfo, Direction=Forward)</arglist>
    </member>
    <member kind="function">
      <type>Planar &amp;</type>
      <name>addBodyDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Planar.html</anchorfile>
      <anchor>ae7a9f534598bf4d054a2b478742a2c28</anchor>
      <arglist>(const Transform &amp;X_BD, const DecorativeGeometry &amp;g)</arglist>
    </member>
    <member kind="function">
      <type>Planar &amp;</type>
      <name>addOutboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Planar.html</anchorfile>
      <anchor>a770381cafa08ca3c718561a378ceb388</anchor>
      <arglist>(const Transform &amp;X_MD, const DecorativeGeometry &amp;g)</arglist>
    </member>
    <member kind="function">
      <type>Planar &amp;</type>
      <name>addInboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Planar.html</anchorfile>
      <anchor>a3066d949d69238060c312fc7f172ff00</anchor>
      <arglist>(const Transform &amp;X_FD, const DecorativeGeometry &amp;g)</arglist>
    </member>
    <member kind="function">
      <type>Planar &amp;</type>
      <name>setDefaultInboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Planar.html</anchorfile>
      <anchor>ab4d884de9c6a3c35c282f925e3ea842d</anchor>
      <arglist>(const Transform &amp;X_PF)</arglist>
    </member>
    <member kind="function">
      <type>Planar &amp;</type>
      <name>setDefaultOutboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Planar.html</anchorfile>
      <anchor>a4e977f9c160315a3e89b0810885c66b7</anchor>
      <arglist>(const Transform &amp;X_BM)</arglist>
    </member>
    <member kind="function">
      <type>Planar &amp;</type>
      <name>setDefaultAngle</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Planar.html</anchorfile>
      <anchor>a99d64a04b073f9719f9e1f3a8c9f31bd</anchor>
      <arglist>(Real a)</arglist>
    </member>
    <member kind="function">
      <type>Planar &amp;</type>
      <name>setDefaultTranslation</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Planar.html</anchorfile>
      <anchor>a28643626adbbae248631a53185083e7c</anchor>
      <arglist>(const Vec2 &amp;r)</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getDefaultAngle</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Planar.html</anchorfile>
      <anchor>a41cfa1668244b9288355d2f42001056a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vec2 &amp;</type>
      <name>getDefaultTranslation</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Planar.html</anchorfile>
      <anchor>a23c3c49a9ca452cdbfb24a148f043868</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setAngle</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Planar.html</anchorfile>
      <anchor>ad1b53e4da8fd3095fe0ae9c925d10a99</anchor>
      <arglist>(State &amp;s, Real a)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setTranslation</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Planar.html</anchorfile>
      <anchor>a99ee5c382324ae09e195e97be65d1b18</anchor>
      <arglist>(State &amp;s, const Vec2 &amp;r)</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getAngle</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Planar.html</anchorfile>
      <anchor>a8afb5b4c41c23de97cd2cb6833daa0a1</anchor>
      <arglist>(const State &amp;s) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec2 &amp;</type>
      <name>getTranslation</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Planar.html</anchorfile>
      <anchor>a83840bccc94022d0a5ddfdb9b2303dea</anchor>
      <arglist>(const State &amp;s) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getDefaultQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Planar.html</anchorfile>
      <anchor>a57d6f2ce5a28b487eb7381ac40afb3aa</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Planar &amp;</type>
      <name>setDefaultQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Planar.html</anchorfile>
      <anchor>a7abe4dea44865fdde70e3bbb12c9279a</anchor>
      <arglist>(const Vec3 &amp;q)</arglist>
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    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Planar.html</anchorfile>
      <anchor>ac6bc663b0c3ad64b300b533dcd03b4b4</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getQDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Planar.html</anchorfile>
      <anchor>a05436d9269831e5a9fdc122db6d000eb</anchor>
      <arglist>(const State &amp;) const</arglist>
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    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getQDotDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Planar.html</anchorfile>
      <anchor>a037ca9c22fea528dbfe310b8c5b4d98c</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Planar.html</anchorfile>
      <anchor>a516d07734e74c060ca1fa5becb80a875</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getUDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Planar.html</anchorfile>
      <anchor>ae2beeb7487adc9b7e9c6f864c6efc9a8</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Planar.html</anchorfile>
      <anchor>a83455e0e996b0c829f256c6123ce2d16</anchor>
      <arglist>(State &amp;, const Vec3 &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Planar.html</anchorfile>
      <anchor>a2ca240d8cd1246f40323b9528aad4a90</anchor>
      <arglist>(State &amp;, const Vec3 &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getMyPartQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Planar.html</anchorfile>
      <anchor>a3c780dac1e51a0bc72150366cae2e6b6</anchor>
      <arglist>(const State &amp;, const Vector &amp;qlike) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getMyPartU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Planar.html</anchorfile>
      <anchor>a48b7fc3de9a02df957567860877cef5f</anchor>
      <arglist>(const State &amp;, const Vector &amp;ulike) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3 &amp;</type>
      <name>updMyPartQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Planar.html</anchorfile>
      <anchor>a1a7af792d8e9af7165a28d3014eafd9b</anchor>
      <arglist>(const State &amp;, Vector &amp;qlike) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3 &amp;</type>
      <name>updMyPartU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Planar.html</anchorfile>
      <anchor>a4c43395bf8b24adba28861e71b57781d</anchor>
      <arglist>(const State &amp;, Vector &amp;ulike) const</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::MobilizedBody::Screw</name>
    <filename>classSimTK_1_1MobilizedBody_1_1Screw.html</filename>
    <base>SimTK::MobilizedBody</base>
    <member kind="function">
      <type></type>
      <name>Screw</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Screw.html</anchorfile>
      <anchor>ac0962bd5a26af9a140ddc9ef27f8eab9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Screw</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Screw.html</anchorfile>
      <anchor>ab78258fc13ef7e532427717c9779cf76</anchor>
      <arglist>(MobilizedBody &amp;parent, const Transform &amp;X_PF, const Body &amp;bodyInfo, const Transform &amp;X_BM, Real pitch, Direction=Forward)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Screw</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Screw.html</anchorfile>
      <anchor>aeb8b0b2d6983c70dae188ab57643b4c5</anchor>
      <arglist>(MobilizedBody &amp;parent, const Body &amp;bodyInfo, Real pitch, Direction=Forward)</arglist>
    </member>
    <member kind="function">
      <type>Screw &amp;</type>
      <name>addBodyDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Screw.html</anchorfile>
      <anchor>a36416746f9b8e899c29858cfda05fbbc</anchor>
      <arglist>(const Transform &amp;X_BD, const DecorativeGeometry &amp;g)</arglist>
    </member>
    <member kind="function">
      <type>Screw &amp;</type>
      <name>addOutboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Screw.html</anchorfile>
      <anchor>a2fa3275b696a763ab280e7330c6182dd</anchor>
      <arglist>(const Transform &amp;X_MD, const DecorativeGeometry &amp;g)</arglist>
    </member>
    <member kind="function">
      <type>Screw &amp;</type>
      <name>addInboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Screw.html</anchorfile>
      <anchor>a426a2eb883ecc8c86a4ee101e1a60e7e</anchor>
      <arglist>(const Transform &amp;X_FD, const DecorativeGeometry &amp;g)</arglist>
    </member>
    <member kind="function">
      <type>Screw &amp;</type>
      <name>setDefaultInboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Screw.html</anchorfile>
      <anchor>aeb068a3d407dc0126560314332f1a2f2</anchor>
      <arglist>(const Transform &amp;X_PF)</arglist>
    </member>
    <member kind="function">
      <type>Screw &amp;</type>
      <name>setDefaultOutboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Screw.html</anchorfile>
      <anchor>abacfc0c852666f1082b3321e60092f86</anchor>
      <arglist>(const Transform &amp;X_BM)</arglist>
    </member>
    <member kind="function">
      <type>Screw &amp;</type>
      <name>setDefaultPitch</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Screw.html</anchorfile>
      <anchor>aa8fec5d77d368a1991e742012cbc7592</anchor>
      <arglist>(Real pitch)</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getDefaultPitch</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Screw.html</anchorfile>
      <anchor>a9dd647703f7a8d6f9069c2e9abfa3846</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Screw &amp;</type>
      <name>setDefaultQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Screw.html</anchorfile>
      <anchor>a6e4146176f0544f83ef8fb012a62e9c9</anchor>
      <arglist>(Real)</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getDefaultQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Screw.html</anchorfile>
      <anchor>a4254cfebd471a986edbe43d4a6a9912c</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Screw.html</anchorfile>
      <anchor>a1de4a3a9d199b588cb787706ebbae987</anchor>
      <arglist>(const State &amp;) const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getQDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Screw.html</anchorfile>
      <anchor>a954c8c13e6446ee60ab722ce6695ae20</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getQDotDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Screw.html</anchorfile>
      <anchor>a378383a84943e8c503084c8c4192da34</anchor>
      <arglist>(const State &amp;) const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Screw.html</anchorfile>
      <anchor>a2f23150dac878fd98e792bfc453b5bc2</anchor>
      <arglist>(const State &amp;) const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getUDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Screw.html</anchorfile>
      <anchor>a0249403d6a5cb2575904ee64f24aa6fb</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Screw.html</anchorfile>
      <anchor>aae76c8aaf42922dcbb55618914ecb60d</anchor>
      <arglist>(State &amp;, Real) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Screw.html</anchorfile>
      <anchor>aaf239676eb67ee3cd90a54e461b73889</anchor>
      <arglist>(State &amp;, Real) const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getMyPartQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Screw.html</anchorfile>
      <anchor>a6fc3eb50736de45ad60b886906522381</anchor>
      <arglist>(const State &amp;, const Vector &amp;qlike) const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getMyPartU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Screw.html</anchorfile>
      <anchor>a4b4b175539ba24c375521743fff99066</anchor>
      <arglist>(const State &amp;, const Vector &amp;ulike) const</arglist>
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    <member kind="function">
      <type>Real &amp;</type>
      <name>updMyPartQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Screw.html</anchorfile>
      <anchor>a38e9a261a742b9490f8304b5377a93ae</anchor>
      <arglist>(const State &amp;, Vector &amp;qlike) const</arglist>
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      <type>Real &amp;</type>
      <name>updMyPartU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Screw.html</anchorfile>
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      <arglist>(const State &amp;, Vector &amp;ulike) const</arglist>
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  </compound>
  <compound kind="class">
    <name>SimTK::MobilizedBody::Slider</name>
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    <base>SimTK::MobilizedBody</base>
    <member kind="function">
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      <name>Slider</name>
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      <arglist>()</arglist>
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      <arglist>(MobilizedBody &amp;parent, const Transform &amp;X_PF, const Body &amp;bodyInfo, const Transform &amp;X_BM, Direction=Forward)</arglist>
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      <arglist>(Real length)</arglist>
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      <name>getDefaultLength</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Slider.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>void</type>
      <name>setLength</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Slider.html</anchorfile>
      <anchor>a53571fc1e53723a9e6db6289c7517982</anchor>
      <arglist>(State &amp;s, Real length)</arglist>
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      <name>getLength</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Slider.html</anchorfile>
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      <arglist>(const State &amp;s) const</arglist>
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      <type>void</type>
      <name>setRate</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Slider.html</anchorfile>
      <anchor>a0edf8f42c58b8168e91ee2b6b2a494cd</anchor>
      <arglist>(State &amp;s, Real rateInLengthPerTime)</arglist>
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      <name>getRate</name>
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      <arglist>(const State &amp;s) const</arglist>
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      <name>getAppliedForce</name>
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      <arglist>(const State &amp;s, const Vector &amp;mobilityForces) const</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1Slider.html</anchorfile>
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      <arglist>(const State &amp;s, Real force, Vector &amp;mobilityForces) const</arglist>
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      <type>Slider &amp;</type>
      <name>setDefaultQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Slider.html</anchorfile>
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      <arglist>(Real)</arglist>
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      <type>Real</type>
      <name>getDefaultQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Slider.html</anchorfile>
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      <arglist>() const</arglist>
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      <name>getQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Slider.html</anchorfile>
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      <arglist>(const State &amp;) const</arglist>
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      <name>getQDot</name>
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      <arglist>(const State &amp;) const</arglist>
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      <name>getQDotDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Slider.html</anchorfile>
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      <arglist>(const State &amp;) const</arglist>
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      <name>getU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Slider.html</anchorfile>
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      <arglist>(const State &amp;) const</arglist>
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      <name>getUDot</name>
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      <arglist>(const State &amp;) const</arglist>
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      <type>void</type>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1Slider.html</anchorfile>
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      <arglist>(State &amp;, Real) const</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1Slider.html</anchorfile>
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      <arglist>(State &amp;, Real) const</arglist>
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      <name>getMyPartQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Slider.html</anchorfile>
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      <arglist>(const State &amp;, const Vector &amp;qlike) const</arglist>
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      <arglist>(const State &amp;, const Vector &amp;ulike) const</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1Slider.html</anchorfile>
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      <arglist>(const State &amp;, Vector &amp;qlike) const</arglist>
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      <arglist>(const State &amp;, Vector &amp;ulike) const</arglist>
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      <arglist>(const Transform &amp;X_BD, const DecorativeGeometry &amp;g)</arglist>
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      <arglist>(const Transform &amp;X_MD, const DecorativeGeometry &amp;g)</arglist>
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      <arglist>(const Transform &amp;X_FD, const DecorativeGeometry &amp;g)</arglist>
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      <arglist>(const Transform &amp;X_PF)</arglist>
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      <arglist>(const Transform &amp;X_BM)</arglist>
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      <type></type>
      <name>SphericalCoords</name>
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      <arglist>()</arglist>
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      <arglist>(MobilizedBody &amp;parent, const Transform &amp;X_PF, const Body &amp;bodyInfo, const Transform &amp;X_BM, Direction=Forward)</arglist>
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      <arglist>(MobilizedBody &amp;parent, const Body &amp;bodyInfo, Direction=Forward)</arglist>
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      <arglist>(MobilizedBody &amp;parent, const Transform &amp;X_PF, const Body &amp;bodyInfo, const Transform &amp;X_BM, Real azimuthOffset, bool azimuthNegated, Real zenithOffset, bool zenithNegated, CoordinateAxis radialAxis, bool radialNegated, Direction=Forward)</arglist>
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      <type>SphericalCoords &amp;</type>
      <name>addBodyDecoration</name>
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      <arglist>(const Transform &amp;X_BD, const DecorativeGeometry &amp;g)</arglist>
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    <member kind="function">
      <type>SphericalCoords &amp;</type>
      <name>addOutboardDecoration</name>
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      <arglist>(const Transform &amp;X_MD, const DecorativeGeometry &amp;g)</arglist>
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      <type>SphericalCoords &amp;</type>
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      <arglist>(const Transform &amp;X_FD, const DecorativeGeometry &amp;g)</arglist>
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    <member kind="function">
      <type>SphericalCoords &amp;</type>
      <name>setDefaultInboardFrame</name>
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      <arglist>(const Transform &amp;X_PF)</arglist>
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      <type>SphericalCoords &amp;</type>
      <name>setDefaultOutboardFrame</name>
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      <arglist>(const Transform &amp;X_BM)</arglist>
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      <type>SphericalCoords &amp;</type>
      <name>setDefaultAngles</name>
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      <arglist>(const Vec2 &amp;a)</arglist>
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      <type>SphericalCoords &amp;</type>
      <name>setDefaultRadius</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1SphericalCoords.html</anchorfile>
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      <arglist>(Real r)</arglist>
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      <name>setRadialAxis</name>
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      <arglist>(CoordinateAxis)</arglist>
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      <name>setNegateAzimuth</name>
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      <arglist>(bool)</arglist>
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      <type>SphericalCoords &amp;</type>
      <name>setNegateZenith</name>
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      <arglist>(bool)</arglist>
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    <member kind="function">
      <type>SphericalCoords &amp;</type>
      <name>setNegateRadial</name>
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      <arglist>(bool)</arglist>
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      <type>const Vec2 &amp;</type>
      <name>getDefaultAngles</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1SphericalCoords.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>Real</type>
      <name>getDefaultTranslation</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1SphericalCoords.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>CoordinateAxis</type>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1SphericalCoords.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>bool</type>
      <name>isAzimuthNegated</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1SphericalCoords.html</anchorfile>
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      <arglist>() const</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1SphericalCoords.html</anchorfile>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <type>void</type>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1SphericalCoords.html</anchorfile>
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      <arglist>(State &amp;s, const Vec2 &amp;a)</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1SphericalCoords.html</anchorfile>
      <anchor>a81e5946e4b53fc7281cf228e6e283ef2</anchor>
      <arglist>(State &amp;s, Real r)</arglist>
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      <type>const Vec2 &amp;</type>
      <name>getAngles</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1SphericalCoords.html</anchorfile>
      <anchor>a83a67331bd9b861e139f25e36299a926</anchor>
      <arglist>(const State &amp;s) const</arglist>
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      <type>Real</type>
      <name>getRadius</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1SphericalCoords.html</anchorfile>
      <anchor>ae2b41cfac8ec2855aa1a87df64638c93</anchor>
      <arglist>(const State &amp;s) const</arglist>
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      <name>getDefaultQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1SphericalCoords.html</anchorfile>
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      <arglist>() const</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1SphericalCoords.html</anchorfile>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1SphericalCoords.html</anchorfile>
      <anchor>a5cf856c8103275813ac5b969c2ed5363</anchor>
      <arglist>(const State &amp;) const</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1SphericalCoords.html</anchorfile>
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      <arglist>(const State &amp;) const</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1SphericalCoords.html</anchorfile>
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      <arglist>(const State &amp;) const</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1SphericalCoords.html</anchorfile>
      <anchor>ae9dcd3f8f9d43e600bf423ef7ab5b146</anchor>
      <arglist>(const State &amp;) const</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1SphericalCoords.html</anchorfile>
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      <arglist>(State &amp;, const Vec3 &amp;) const</arglist>
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      <name>getMyPartQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1SphericalCoords.html</anchorfile>
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      <arglist>(const State &amp;, const Vector &amp;qlike) const</arglist>
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      <arglist>(const State &amp;, const Vector &amp;ulike) const</arglist>
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      <arglist>(const State &amp;, Vector &amp;qlike) const</arglist>
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      <arglist>(const State &amp;, Vector &amp;ulike) const</arglist>
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      <arglist>()</arglist>
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      <arglist>(MobilizedBody &amp;parent, const Body &amp;bodyInfo, Direction=Forward)</arglist>
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      <arglist>(const Transform &amp;X_BD, const DecorativeGeometry &amp;g)</arglist>
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      <arglist>(const Transform &amp;X_MD, const DecorativeGeometry &amp;g)</arglist>
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      <arglist>(const Transform &amp;X_FD, const DecorativeGeometry &amp;g)</arglist>
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      <arglist>(const Transform &amp;X_PF)</arglist>
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      <name>setDefaultOutboardFrame</name>
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      <arglist>(const Transform &amp;X_BM)</arglist>
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      <name>setDefaultTranslation</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Translation.html</anchorfile>
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      <arglist>(const Vec3 &amp;p_FM)</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1Translation.html</anchorfile>
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      <arglist>() const</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1Translation.html</anchorfile>
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      <arglist>(State &amp;s, const Vec3 &amp;p_FM) const</arglist>
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      <name>getTranslation</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Translation.html</anchorfile>
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      <arglist>(const State &amp;s) const</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1Translation.html</anchorfile>
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      <arglist>(State &amp;s, const Vec3 &amp;v_FM) const</arglist>
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      <type>const Vec3 &amp;</type>
      <name>getVelocity</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Translation.html</anchorfile>
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      <arglist>(const State &amp;s) const</arglist>
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      <type>const Vec3 &amp;</type>
      <name>getAcceleration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Translation.html</anchorfile>
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      <arglist>(const State &amp;s) const</arglist>
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      <name>setMobilizerTranslation</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Translation.html</anchorfile>
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      <arglist>(State &amp;s, const Vec3 &amp;p_FM) const</arglist>
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      <type>const Vec3 &amp;</type>
      <name>getMobilizerTranslation</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Translation.html</anchorfile>
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      <arglist>(const State &amp;s) const</arglist>
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      <type>void</type>
      <name>setMobilizerVelocity</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Translation.html</anchorfile>
      <anchor>af39dbe85e475a9cd09c3cafe320e2191</anchor>
      <arglist>(State &amp;s, const Vec3 &amp;v_FM) const</arglist>
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      <type>const Vec3 &amp;</type>
      <name>getMobilizerVelocity</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Translation.html</anchorfile>
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      <arglist>(const State &amp;s) const</arglist>
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      <name>getMobilizerAcceleration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Translation.html</anchorfile>
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      <arglist>(const State &amp;s) const</arglist>
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      <name>getDefaultQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Translation.html</anchorfile>
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      <arglist>() const</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1Translation.html</anchorfile>
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      <arglist>(const Vec3 &amp;q)</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1Translation.html</anchorfile>
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      <arglist>(const State &amp;) const</arglist>
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      <name>getQDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Translation.html</anchorfile>
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      <arglist>(const State &amp;) const</arglist>
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      <type>const Vec3 &amp;</type>
      <name>getQDotDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Translation.html</anchorfile>
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      <arglist>(const State &amp;) const</arglist>
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      <name>getU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Translation.html</anchorfile>
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      <arglist>(const State &amp;) const</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1Translation.html</anchorfile>
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      <arglist>(const State &amp;) const</arglist>
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      <arglist>(State &amp;, const Vec3 &amp;) const</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1Translation.html</anchorfile>
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      <arglist>(State &amp;, const Vec3 &amp;) const</arglist>
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      <name>getMyPartQ</name>
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      <arglist>(const State &amp;, const Vector &amp;qlike) const</arglist>
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      <arglist>(const State &amp;, const Vector &amp;ulike) const</arglist>
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      <arglist>(const State &amp;, Vector &amp;qlike) const</arglist>
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      <arglist>(const State &amp;, Vector &amp;ulike) const</arglist>
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      <arglist>()</arglist>
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      <arglist>(const Transform &amp;X_BD, const DecorativeGeometry &amp;g)</arglist>
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      <arglist>(const Transform &amp;X_BM)</arglist>
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      <arglist>()</arglist>
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      <arglist>(const Transform &amp;X_BD, const DecorativeGeometry &amp;g)</arglist>
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      <arglist>(const Transform &amp;X_BM)</arglist>
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      <arglist>(const std::vector&lt; String &gt; &amp;observationOrder)</arglist>
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      <arglist>(int n, const char *const observationOrder[])</arglist>
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      <arglist>(OSensorIx mx)</arglist>
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      <arglist>() const</arglist>
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      <arglist>(ObservationIx ox) const</arglist>
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      <arglist>(MobilizedBodyIndex mbx)</arglist>
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      <arglist>(ObservationIx ox, const Rotation &amp;observation)</arglist>
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      <arglist>(const Array_&lt; Rotation &gt; &amp;observations)</arglist>
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      <arglist>(OSensorIx mx, Real weight)</arglist>
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      <arglist>(ObservationIx ox) const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const override</arglist>
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      <arglist>() const override</arglist>
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      <arglist>(const State &amp;state, Vector &amp;err) const override</arglist>
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      <arglist>(const State &amp;state, Matrix &amp;jacobian) const override</arglist>
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      <arglist>(const State &amp;state) const override</arglist>
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      <arglist>(const State &amp;state, Real &amp;goal) const override</arglist>
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      <arglist>(const State &amp;state, Vector &amp;grad) const override</arglist>
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      <arglist>(const Vector_&lt; Vec3 &gt; &amp;points)</arglist>
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      <arglist>(Vec3 corners[8]) const</arglist>
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      <arglist>()</arglist>
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      <arglist>(State &amp;) const override</arglist>
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      <arglist></arglist>
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      <arglist>() const</arglist>
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  <compound kind="class">
    <name>SimTK::PlaneDecorator</name>
    <filename>classSimTK_1_1PlaneDecorator.html</filename>
    <base>SimTK::DecorationGenerator</base>
    <member kind="function">
      <type></type>
      <name>PlaneDecorator</name>
      <anchorfile>classSimTK_1_1PlaneDecorator.html</anchorfile>
      <anchor>a9f5e837aa1a8781f3403158b56f59f4e</anchor>
      <arglist>(const Plane &amp;plane, const Vec3 &amp;color)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>generateDecorations</name>
      <anchorfile>classSimTK_1_1PlaneDecorator.html</anchorfile>
      <anchor>a84121306777bf3fa66d712441fc00f67</anchor>
      <arglist>(const State &amp;state, Array_&lt; DecorativeGeometry &gt; &amp;geometry) override</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::Plugin</name>
    <filename>classSimTK_1_1Plugin.html</filename>
    <member kind="function">
      <type></type>
      <name>Plugin</name>
      <anchorfile>classSimTK_1_1Plugin.html</anchorfile>
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      <arglist>(const std::string &amp;defaultPathname=&quot;&quot;)</arglist>
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      <name>~Plugin</name>
      <anchorfile>classSimTK_1_1Plugin.html</anchorfile>
      <anchor>ae210d6b862101a69dc64092cc777ad53</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>load</name>
      <anchorfile>classSimTK_1_1Plugin.html</anchorfile>
      <anchor>ae9d82db1b7768a8d651d80a1b819ded5</anchor>
      <arglist>(const std::string &amp;name=&quot;&quot;)</arglist>
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      <anchorfile>classSimTK_1_1Plugin.html</anchorfile>
      <anchor>a372d253bbfde4b5d57e53855231668b5</anchor>
      <arglist>()</arglist>
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      <type>bool</type>
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      <anchorfile>classSimTK_1_1Plugin.html</anchorfile>
      <anchor>a6de338e258119b11ac2e044456082055</anchor>
      <arglist>() const</arglist>
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      <anchorfile>classSimTK_1_1Plugin.html</anchorfile>
      <anchor>a8339d8866919e6c1573e3f3e4e64a3d6</anchor>
      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <anchorfile>classSimTK_1_1Plugin.html</anchorfile>
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      <arglist>(const Array_&lt; std::string &gt; &amp;pathIn)</arglist>
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      <anchorfile>classSimTK_1_1Plugin.html</anchorfile>
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      <arglist>() const</arglist>
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      <anchorfile>classSimTK_1_1Plugin.html</anchorfile>
      <anchor>a2b11aec4e32b0427b6a1029d09401107</anchor>
      <arglist>(const std::string &amp;directory)</arglist>
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      <anchorfile>classSimTK_1_1Plugin.html</anchorfile>
      <anchor>a2f58afac7bdc53bd114d2562adab9f8c</anchor>
      <arglist>(const std::string &amp;directory)</arglist>
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      <type>static void *</type>
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      <anchorfile>classSimTK_1_1Plugin.html</anchorfile>
      <anchor>a54156e5b43d478d9abcb8c0b51afe836</anchor>
      <arglist>(const std::string &amp;name, std::string &amp;errMsg)</arglist>
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      <type>static void *</type>
      <name>loadDebugOrReleasePlugin</name>
      <anchorfile>classSimTK_1_1Plugin.html</anchorfile>
      <anchor>a38b079eb6561d0cc84b00277ad5a23c4</anchor>
      <arglist>(const std::string &amp;base, const std::string &amp;extension, std::string &amp;loadedFileName, std::string &amp;errMsg)</arglist>
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    <member kind="function" static="yes">
      <type>static void *</type>
      <name>getSymbolAddress</name>
      <anchorfile>classSimTK_1_1Plugin.html</anchorfile>
      <anchor>a7e23db4cfd3bbe0bfdd99e402640dfb2</anchor>
      <arglist>(void *handle, const std::string &amp;name, std::string &amp;errMsg)</arglist>
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      <type>static void</type>
      <name>unloadPlugin</name>
      <anchorfile>classSimTK_1_1Plugin.html</anchorfile>
      <anchor>a0790bb419c828fd5a540ed6fd9ccdd8c</anchor>
      <arglist>(void *handle)</arglist>
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    <member kind="function" static="yes">
      <type>static bool</type>
      <name>deconstructLibraryName</name>
      <anchorfile>classSimTK_1_1Plugin.html</anchorfile>
      <anchor>a04be6694801fa22e1d1ce249985c2103</anchor>
      <arglist>(const std::string &amp;name, bool &amp;isAbsolutePath, std::string &amp;directory, std::string &amp;libPrefix, std::string &amp;baseName, std::string &amp;debugSuffix, std::string &amp;extension)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>getDynamicLibPrefix</name>
      <anchorfile>classSimTK_1_1Plugin.html</anchorfile>
      <anchor>af8eaa5eeb25d18ff23c01b62227920a7</anchor>
      <arglist>()</arglist>
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    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>getDynamicLibExtension</name>
      <anchorfile>classSimTK_1_1Plugin.html</anchorfile>
      <anchor>af5600e5ff95764406f7324da73b350a5</anchor>
      <arglist>()</arglist>
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    <member kind="function" static="yes">
      <type>static std::string</type>
      <name>getDynamicLibDebugSuffix</name>
      <anchorfile>classSimTK_1_1Plugin.html</anchorfile>
      <anchor>a9ad89ecf9b032b7ab4618a7f95ddf345</anchor>
      <arglist>()</arglist>
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    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>m_defaultName</name>
      <anchorfile>classSimTK_1_1Plugin.html</anchorfile>
      <anchor>a350766490efaad96f7083f7cffebb544</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Array_&lt; std::string &gt;</type>
      <name>m_searchPath</name>
      <anchorfile>classSimTK_1_1Plugin.html</anchorfile>
      <anchor>a18d299f19a494729be3694b500b1b204</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>m_loadedPathname</name>
      <anchorfile>classSimTK_1_1Plugin.html</anchorfile>
      <anchor>af33cf80a1c442eadd9875e7cbb1d96ae</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>void *</type>
      <name>m_handle</name>
      <anchorfile>classSimTK_1_1Plugin.html</anchorfile>
      <anchor>a86eba309571ba380d5460b8866b50e67</anchor>
      <arglist></arglist>
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      <type>std::string</type>
      <name>m_lastMessage</name>
      <anchorfile>classSimTK_1_1Plugin.html</anchorfile>
      <anchor>a94f2a77972d52cf4d68edeb1bf86cc68</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>SimTK::PLUSImpulseSolver</name>
    <filename>classSimTK_1_1PLUSImpulseSolver.html</filename>
    <base>SimTK::ImpulseSolver</base>
    <member kind="function">
      <type></type>
      <name>PLUSImpulseSolver</name>
      <anchorfile>classSimTK_1_1PLUSImpulseSolver.html</anchorfile>
      <anchor>a72eedb6974e4202f216c44da6abf1ee9</anchor>
      <arglist>(Real roll2slipTransitionSpeed)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>solve</name>
      <anchorfile>classSimTK_1_1PLUSImpulseSolver.html</anchorfile>
      <anchor>a81b4442b7eb2f5b6a7ee29092b625467</anchor>
      <arglist>(int phase, const Array_&lt; MultiplierIndex &gt; &amp;participating, const Matrix &amp;A, const Vector &amp;D, const Array_&lt; MultiplierIndex &gt; &amp;expanding, Vector &amp;piExpand, Vector &amp;verrStart, Vector &amp;verrApplied, Vector &amp;pi, Array_&lt; UncondRT &gt; &amp;unconditional, Array_&lt; UniContactRT &gt; &amp;uniContact, Array_&lt; UniSpeedRT &gt; &amp;uniSpeed, Array_&lt; BoundedRT &gt; &amp;bounded, Array_&lt; ConstraintLtdFrictionRT &gt; &amp;consLtdFriction, Array_&lt; StateLtdFrictionRT &gt; &amp;stateLtdFriction) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>solveBilateral</name>
      <anchorfile>classSimTK_1_1PLUSImpulseSolver.html</anchorfile>
      <anchor>a67c8f5735be8014fcccad31f5b04c898</anchor>
      <arglist>(const Array_&lt; MultiplierIndex &gt; &amp;participating, const Matrix &amp;A, const Vector &amp;D, const Vector &amp;rhs, Vector &amp;pi) const override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SimTK_DEFINE_UNIQUE_LOCAL_INDEX_TYPE</name>
      <anchorfile>classSimTK_1_1PLUSImpulseSolver.html</anchorfile>
      <anchor>a68e8d7b44a937d99a54d0b5ff3853904</anchor>
      <arglist>(PLUSImpulseSolver, ActiveIndex)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::PointContact</name>
    <filename>classSimTK_1_1PointContact.html</filename>
    <base>SimTK::Contact</base>
    <member kind="function">
      <type></type>
      <name>PointContact</name>
      <anchorfile>classSimTK_1_1PointContact.html</anchorfile>
      <anchor>a00c33f14fbc21152c7296a57702c3e5c</anchor>
      <arglist>(ContactSurfaceIndex surf1, ContactSurfaceIndex surf2, Vec3 &amp;location, Vec3 &amp;normal, Real radius1, Real radius2, Real depth)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PointContact</name>
      <anchorfile>classSimTK_1_1PointContact.html</anchorfile>
      <anchor>a55890369d972d06303cdfd1e1f0e0587</anchor>
      <arglist>(ContactSurfaceIndex surf1, ContactSurfaceIndex surf2, Vec3 &amp;location, Vec3 &amp;normal, Real radius, Real depth)</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>getLocation</name>
      <anchorfile>classSimTK_1_1PointContact.html</anchorfile>
      <anchor>a0a350794c7a5f2836919f468d39093bf</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>getNormal</name>
      <anchorfile>classSimTK_1_1PointContact.html</anchorfile>
      <anchor>a8ebbbed9f006c394c11465e70a70282e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getRadiusOfCurvature1</name>
      <anchorfile>classSimTK_1_1PointContact.html</anchorfile>
      <anchor>ad5c66c9223a37a27839e790123694f08</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getRadiusOfCurvature2</name>
      <anchorfile>classSimTK_1_1PointContact.html</anchorfile>
      <anchor>a76a626b46520120891e401137694c44b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getEffectiveRadiusOfCurvature</name>
      <anchorfile>classSimTK_1_1PointContact.html</anchorfile>
      <anchor>a494621e4aac9d936ddcbdfb9069d396c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getDepth</name>
      <anchorfile>classSimTK_1_1PointContact.html</anchorfile>
      <anchor>a7ce6bf3ea63be90f0677b15341e1d245</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>isInstance</name>
      <anchorfile>classSimTK_1_1PointContact.html</anchorfile>
      <anchor>ae1840cb4936d016e6185654c934e362d</anchor>
      <arglist>(const Contact &amp;contact)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ContactTypeId</type>
      <name>classTypeId</name>
      <anchorfile>classSimTK_1_1PointContact.html</anchorfile>
      <anchor>a648292b81b62f364cf4969bf71a09e2d</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::PointPlaneContact</name>
    <filename>classSimTK_1_1PointPlaneContact.html</filename>
    <base>SimTK::UnilateralContact</base>
    <member kind="function">
      <type></type>
      <name>PointPlaneContact</name>
      <anchorfile>classSimTK_1_1PointPlaneContact.html</anchorfile>
      <anchor>a189a55affa9aaad4ef53cecf2d9633b1</anchor>
      <arglist>(MobilizedBody &amp;planeBodyB, const UnitVec3 &amp;normal_B, Real height, MobilizedBody &amp;followerBodyF, const Vec3 &amp;point_F, Real minCOR, Real mu_s, Real mu_d, Real mu_v)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>disable</name>
      <anchorfile>classSimTK_1_1PointPlaneContact.html</anchorfile>
      <anchor>a4c3bda4a898b5c63a1cb1901d3c341e5</anchor>
      <arglist>(State &amp;state) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>enable</name>
      <anchorfile>classSimTK_1_1PointPlaneContact.html</anchorfile>
      <anchor>a4f737759d3d37ec59229c2c102514ed5</anchor>
      <arglist>(State &amp;state) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEnabled</name>
      <anchorfile>classSimTK_1_1PointPlaneContact.html</anchorfile>
      <anchor>a1947e18688375818366a2d9004117d66</anchor>
      <arglist>(const State &amp;state) const override</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>whereToDisplay</name>
      <anchorfile>classSimTK_1_1PointPlaneContact.html</anchorfile>
      <anchor>a4d910f9827c6dea7b9d69565c00a49a6</anchor>
      <arglist>(const State &amp;state) const override</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getPerr</name>
      <anchorfile>classSimTK_1_1PointPlaneContact.html</anchorfile>
      <anchor>a7371db57eedb1fcc920e9767d4dfa4f8</anchor>
      <arglist>(const State &amp;state) const override</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getVerr</name>
      <anchorfile>classSimTK_1_1PointPlaneContact.html</anchorfile>
      <anchor>a54be4880faf0a589ab770faca0c005ea</anchor>
      <arglist>(const State &amp;state) const override</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getAerr</name>
      <anchorfile>classSimTK_1_1PointPlaneContact.html</anchorfile>
      <anchor>a8db0e05ae0650f1116b4b5a575aa8172</anchor>
      <arglist>(const State &amp;state) const override</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>calcEffectiveCOR</name>
      <anchorfile>classSimTK_1_1PointPlaneContact.html</anchorfile>
      <anchor>af19d3f73ed11704387801dc9cd3aeaaa</anchor>
      <arglist>(const State &amp;state, Real defaultCaptureSpeed, Real defaultMinCORSpeed, Real impactSpeed) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>hasFriction</name>
      <anchorfile>classSimTK_1_1PointPlaneContact.html</anchorfile>
      <anchor>ae95146266d4e83e7a183fc32f41ff20b</anchor>
      <arglist>(const State &amp;state) const override</arglist>
    </member>
    <member kind="function">
      <type>Vec2</type>
      <name>getSlipVelocity</name>
      <anchorfile>classSimTK_1_1PointPlaneContact.html</anchorfile>
      <anchor>a599f29482e01f9d01308d9e59ee354e3</anchor>
      <arglist>(const State &amp;state) const override</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>calcEffectiveCOF</name>
      <anchorfile>classSimTK_1_1PointPlaneContact.html</anchorfile>
      <anchor>a5252238102606bd28097d826f84e6737</anchor>
      <arglist>(const State &amp;state, Real defaultTransitionSpeed, Real slipSpeed) const override</arglist>
    </member>
    <member kind="function">
      <type>MultiplierIndex</type>
      <name>getContactMultiplierIndex</name>
      <anchorfile>classSimTK_1_1PointPlaneContact.html</anchorfile>
      <anchor>a384e995ab231467767e1a36a18a997fe</anchor>
      <arglist>(const State &amp;s) const override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getFrictionMultiplierIndices</name>
      <anchorfile>classSimTK_1_1PointPlaneContact.html</anchorfile>
      <anchor>a0d9493949a019f3e2bceda1fb510b24e</anchor>
      <arglist>(const State &amp;s, MultiplierIndex &amp;ix_x, MultiplierIndex &amp;ix_y) const override</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::PointPlaneFrictionlessContact</name>
    <filename>classSimTK_1_1PointPlaneFrictionlessContact.html</filename>
    <base>SimTK::UnilateralContact</base>
    <member kind="function">
      <type></type>
      <name>PointPlaneFrictionlessContact</name>
      <anchorfile>classSimTK_1_1PointPlaneFrictionlessContact.html</anchorfile>
      <anchor>abbfb75304c9a17be4133cc03b367191a</anchor>
      <arglist>(MobilizedBody &amp;planeBodyB, const UnitVec3 &amp;normal_B, Real height, MobilizedBody &amp;followerBodyF, const Vec3 &amp;point_F, Real minCOR)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>disable</name>
      <anchorfile>classSimTK_1_1PointPlaneFrictionlessContact.html</anchorfile>
      <anchor>afa7a94a3d0f2f6596ce3895a7e6a2065</anchor>
      <arglist>(State &amp;state) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>enable</name>
      <anchorfile>classSimTK_1_1PointPlaneFrictionlessContact.html</anchorfile>
      <anchor>a32f46168f9d6da45bedd7844d7f0dbaa</anchor>
      <arglist>(State &amp;state) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEnabled</name>
      <anchorfile>classSimTK_1_1PointPlaneFrictionlessContact.html</anchorfile>
      <anchor>ae7edf5d5bc716e23f91a21172ce0e7df</anchor>
      <arglist>(const State &amp;state) const override</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>whereToDisplay</name>
      <anchorfile>classSimTK_1_1PointPlaneFrictionlessContact.html</anchorfile>
      <anchor>a9ed2bce89c11c344cc2d16a3d50e1ea2</anchor>
      <arglist>(const State &amp;state) const override</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getPerr</name>
      <anchorfile>classSimTK_1_1PointPlaneFrictionlessContact.html</anchorfile>
      <anchor>a6fd7c7f84336adbc834707f76593fb18</anchor>
      <arglist>(const State &amp;state) const override</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getVerr</name>
      <anchorfile>classSimTK_1_1PointPlaneFrictionlessContact.html</anchorfile>
      <anchor>a145915fb394e55b9d39e7b7812a4517b</anchor>
      <arglist>(const State &amp;state) const override</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getAerr</name>
      <anchorfile>classSimTK_1_1PointPlaneFrictionlessContact.html</anchorfile>
      <anchor>a2d978f61d2884ebb0d0e76330fbb5ba4</anchor>
      <arglist>(const State &amp;state) const override</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>calcEffectiveCOR</name>
      <anchorfile>classSimTK_1_1PointPlaneFrictionlessContact.html</anchorfile>
      <anchor>a1c0fc6d6969472fe8b95e7ff92375b61</anchor>
      <arglist>(const State &amp;state, Real defaultCaptureSpeed, Real defaultMinCORSpeed, Real impactSpeed) const override</arglist>
    </member>
    <member kind="function">
      <type>MultiplierIndex</type>
      <name>getContactMultiplierIndex</name>
      <anchorfile>classSimTK_1_1PointPlaneFrictionlessContact.html</anchorfile>
      <anchor>acb986c7c5900a663a58d104f40fb6cff</anchor>
      <arglist>(const State &amp;s) const override</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::PolygonalMesh</name>
    <filename>classSimTK_1_1PolygonalMesh.html</filename>
    <base>PIMPLHandle&lt; PolygonalMesh, PolygonalMeshImpl, true &gt;</base>
    <member kind="function">
      <type></type>
      <name>PolygonalMesh</name>
      <anchorfile>classSimTK_1_1PolygonalMesh.html</anchorfile>
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      <anchorfile>classSimTK_1_1Rotation__.html</anchorfile>
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      <anchorfile>classSimTK_1_1Rotation__.html</anchorfile>
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      <anchorfile>classSimTK_1_1Rotation__.html</anchorfile>
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      <arglist>(const UnitVec3P &amp;uvec, CoordinateAxis axis)</arglist>
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      <arglist>(const Vec3P &amp;v)</arglist>
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      <anchorfile>classSimTK_1_1Rotation__.html</anchorfile>
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      <arglist>(const Vec3P &amp;c, const Vec3P &amp;s)</arglist>
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      <anchorfile>classSimTK_1_1Rotation__.html</anchorfile>
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      <arglist>()</arglist>
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      <arglist>(const Vec3P &amp;q, const Vec3P &amp;qdot)</arglist>
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      <arglist>(const Vec3P &amp;cq, const Vec3P &amp;sq, const Vec3P &amp;qdot)</arglist>
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      <arglist>() const</arglist>
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      <arglist>(Real vCapture)</arglist>
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      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>Real</type>
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      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>a971d9dc13947849901277ffc3cd5fbca</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>Real</type>
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      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>a2f09d10a5d06b7e366d2d9b6b2729525</anchor>
      <arglist>() const</arglist>
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      <type>const MultibodySystem &amp;</type>
      <name>getMultibodySystem</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>const ImpulseSolver &amp;</type>
      <name>getImpulseSolver</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
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      <arglist>() const</arglist>
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      <arglist>(ImpulseSolver *impulseSolver)</arglist>
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      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>a9f2312a9468fa9a562885bb3e06579c0</anchor>
      <arglist>()</arglist>
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      <name>getRestitutionModelName</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>a99fd583c30d09f2def02cd31ddd13206</anchor>
      <arglist>(RestitutionModel rm)</arglist>
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    <member kind="function" static="yes">
      <type>static const char *</type>
      <name>getInducedImpactModelName</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>a4f0ae22d17303c85278bda1e41542557</anchor>
      <arglist>(InducedImpactModel iim)</arglist>
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      <name>getPositionProjectionMethodName</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>ac260fee3953b1b594bf60f8151fe8920</anchor>
      <arglist>(PositionProjectionMethod ppm)</arglist>
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      <name>getImpulseSolverTypeName</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
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      <arglist>(ImpulseSolverType ist)</arglist>
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  </compound>
  <compound kind="class">
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    <base>SimTK::Subsystem</base>
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      <arglist>(MultibodySystem &amp;)</arglist>
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      <type></type>
      <name>SimbodyMatterSubsystem</name>
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      <arglist>()</arglist>
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      <name>~SimbodyMatterSubsystem</name>
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      <arglist>()</arglist>
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      <name>getMobilizedBody</name>
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      <arglist>(MobilizedBodyIndex) const</arglist>
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      <type>MobilizedBody &amp;</type>
      <name>updMobilizedBody</name>
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      <arglist>(MobilizedBodyIndex)</arglist>
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      <name>getGround</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>MobilizedBody::Ground &amp;</type>
      <name>updGround</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>()</arglist>
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      <type>MobilizedBody::Ground &amp;</type>
      <name>Ground</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>()</arglist>
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      <type>const Constraint &amp;</type>
      <name>getConstraint</name>
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      <arglist>(ConstraintIndex) const</arglist>
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      <type>Constraint &amp;</type>
      <name>updConstraint</name>
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      <arglist>(ConstraintIndex)</arglist>
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      <arglist>(bool show)</arglist>
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      <arglist>() const</arglist>
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      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>int</type>
      <name>getNumConstraints</name>
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      <arglist>() const</arglist>
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      <type>int</type>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <type>MobilizedBodyIndex</type>
      <name>adoptMobilizedBody</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>(MobilizedBodyIndex parent, MobilizedBody &amp;child)</arglist>
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      <type>ConstraintIndex</type>
      <name>adoptConstraint</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>(Constraint &amp;)</arglist>
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      <type>UnilateralContactIndex</type>
      <name>adoptUnilateralContact</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>(UnilateralContact *)</arglist>
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      <type>int</type>
      <name>getNumUnilateralContacts</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>const UnilateralContact &amp;</type>
      <name>getUnilateralContact</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>(UnilateralContactIndex) const</arglist>
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      <type>UnilateralContact &amp;</type>
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      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>(UnilateralContactIndex)</arglist>
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      <type>StateLimitedFrictionIndex</type>
      <name>adoptStateLimitedFriction</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ade345270c030aaf4e4521b49c6dd4231</anchor>
      <arglist>(StateLimitedFriction *)</arglist>
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      <type>int</type>
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      <arglist>() const</arglist>
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      <arglist>(StateLimitedFrictionIndex) const</arglist>
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      <type>StateLimitedFriction &amp;</type>
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      <anchor>a9ae7adcc1ce992f808f2402649e81e95</anchor>
      <arglist>(StateLimitedFrictionIndex)</arglist>
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      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>(const SimbodyMatterSubsystem &amp;ss)</arglist>
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      <name>operator=</name>
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      <arglist>(const SimbodyMatterSubsystem &amp;ss)</arglist>
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      <arglist>(State &amp;state, bool useEulerAngles) const</arglist>
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      <arglist>(const State &amp;state) const</arglist>
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      <type>int</type>
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      <arglist>(const State &amp;state) const</arglist>
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      <arglist>(const State &amp;state, MobilizedBodyIndex mobodIx) const</arglist>
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      <arglist>(const State &amp;state, MobilizedBodyIndex mobodIx) const</arglist>
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      <arglist>(State &amp;state, ConstraintIndex constraintIx, bool shouldDisableConstraint) const</arglist>
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      <arglist>(const State &amp;, ConstraintIndex constraint) const</arglist>
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      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ad6e92e3504739bb2791cca77035df980</anchor>
      <arglist>(const State &amp;inputState, State &amp;outputState) const</arglist>
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      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>(const State &amp;inputState, State &amp;outputState) const</arglist>
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      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>(State &amp;state) const</arglist>
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      <arglist>(const State &amp;s) const</arglist>
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      <type>Vec3</type>
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      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>(const State &amp;s) const</arglist>
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      <type>MassProperties</type>
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      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>(const State &amp;s) const</arglist>
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      <type>Inertia</type>
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      <arglist>(const State &amp;s) const</arglist>
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      <arglist>(const State &amp;s) const</arglist>
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      <arglist>(const State &amp;s) const</arglist>
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      <arglist>(const State &amp;s) const</arglist>
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      <arglist>(const State &amp;s) const</arglist>
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      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a6cdfd4c182fd6b3f129e8f2bc1b6e6e6</anchor>
      <arglist>(const State &amp;state, const Vector &amp;u, Vector_&lt; SpatialVec &gt; &amp;Ju) const</arglist>
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      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>(const State &amp;state, Vector_&lt; SpatialVec &gt; &amp;JDotu) const</arglist>
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      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>(const State &amp;state, Vector &amp;JDotu) const</arglist>
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      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a2a6e9006e2a8e513f940e5e337c82329</anchor>
      <arglist>(const State &amp;state, const Vector_&lt; SpatialVec &gt; &amp;F_G, Vector &amp;f) const</arglist>
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      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a4c9e16d57c4d129a22311c26f4a555e3</anchor>
      <arglist>(const State &amp;state, Matrix_&lt; SpatialVec &gt; &amp;J_G) const</arglist>
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      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>(const State &amp;state, Matrix &amp;J_G) const</arglist>
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      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a9043c480738ccd9af077914c62e1c02a</anchor>
      <arglist>(const State &amp;state, const Array_&lt; MobilizedBodyIndex &gt; &amp;onBodyB, const Array_&lt; Vec3 &gt; &amp;stationPInB, const Vector &amp;u, Vector_&lt; Vec3 &gt; &amp;JSu) const</arglist>
    </member>
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      <type>Vec3</type>
      <name>multiplyByStationJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ad5dbf65d8b88c13468888964cd511479</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex onBodyB, const Vec3 &amp;stationPInB, const Vector &amp;u) const</arglist>
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      <type>void</type>
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      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a5e5e384f7e3dbf14be82f91156a942e6</anchor>
      <arglist>(const State &amp;state, const Array_&lt; MobilizedBodyIndex &gt; &amp;onBodyB, const Array_&lt; Vec3 &gt; &amp;stationPInB, const Vector_&lt; Vec3 &gt; &amp;f_GP, Vector &amp;f) const</arglist>
    </member>
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      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a45fa4f9017618d84d4da705088a8e06f</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex onBodyB, const Vec3 &amp;stationPInB, const Vec3 &amp;f_GP, Vector &amp;f) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>calcStationJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a609c9185a6855337ad7e0a6a28352d73</anchor>
      <arglist>(const State &amp;state, const Array_&lt; MobilizedBodyIndex &gt; &amp;onBodyB, const Array_&lt; Vec3 &gt; &amp;stationPInB, Matrix_&lt; Vec3 &gt; &amp;JS) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcStationJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>af27560a2741e1d8e93f41671101927f3</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex onBodyB, const Vec3 &amp;stationPInB, RowVector_&lt; Vec3 &gt; &amp;JS) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcStationJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a3eaf0210388cde7033d23f8254bf0b5a</anchor>
      <arglist>(const State &amp;state, const Array_&lt; MobilizedBodyIndex &gt; &amp;onBodyB, const Array_&lt; Vec3 &gt; &amp;stationPInB, Matrix &amp;JS) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcStationJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a7ea22d30ca5f984f6079b91eea0ed928</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex onBodyB, const Vec3 &amp;stationPInB, Matrix &amp;JS) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcBiasForStationJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a991359a02df025302e67f90de61f9c13</anchor>
      <arglist>(const State &amp;state, const Array_&lt; MobilizedBodyIndex &gt; &amp;onBodyB, const Array_&lt; Vec3 &gt; &amp;stationPInB, Vector_&lt; Vec3 &gt; &amp;JSDotu) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcBiasForStationJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a8f6dd4c627e1aed36297001f2ff73d5c</anchor>
      <arglist>(const State &amp;state, const Array_&lt; MobilizedBodyIndex &gt; &amp;onBodyB, const Array_&lt; Vec3 &gt; &amp;stationPInB, Vector &amp;JSDotu) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>calcBiasForStationJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ab8d0adf617de56f182165241c45d5dfe</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex onBodyB, const Vec3 &amp;stationPInB) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>multiplyByFrameJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a2d9c3d793cf53968c089dc59732ac639</anchor>
      <arglist>(const State &amp;state, const Array_&lt; MobilizedBodyIndex &gt; &amp;onBodyB, const Array_&lt; Vec3 &gt; &amp;originAoInB, const Vector &amp;u, Vector_&lt; SpatialVec &gt; &amp;JFu) const</arglist>
    </member>
    <member kind="function">
      <type>SpatialVec</type>
      <name>multiplyByFrameJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a51d13f6ee1f192d26a6f1c7ac1fed670</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex onBodyB, const Vec3 &amp;originAoInB, const Vector &amp;u) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>multiplyByFrameJacobianTranspose</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>aaed9e569f3d409734fc8930e9774e629</anchor>
      <arglist>(const State &amp;state, const Array_&lt; MobilizedBodyIndex &gt; &amp;onBodyB, const Array_&lt; Vec3 &gt; &amp;originAoInB, const Vector_&lt; SpatialVec &gt; &amp;F_GAo, Vector &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>multiplyByFrameJacobianTranspose</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ac7c3a91c6786c60bc247b33051c04627</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex onBodyB, const Vec3 &amp;originAoInB, const SpatialVec &amp;F_GAo, Vector &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcFrameJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a62cd2dc07b0e88b0a2db0689221ae1b9</anchor>
      <arglist>(const State &amp;state, const Array_&lt; MobilizedBodyIndex &gt; &amp;onBodyB, const Array_&lt; Vec3 &gt; &amp;originAoInB, Matrix_&lt; SpatialVec &gt; &amp;JF) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcFrameJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ac949f57c30f6653d374f057e4ef3f22b</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex onBodyB, const Vec3 &amp;originAoInB, RowVector_&lt; SpatialVec &gt; &amp;JF) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcFrameJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a4a2c501d7903e69f96f649a459cb4b5c</anchor>
      <arglist>(const State &amp;state, const Array_&lt; MobilizedBodyIndex &gt; &amp;onBodyB, const Array_&lt; Vec3 &gt; &amp;originAoInB, Matrix &amp;JF) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcFrameJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ab48c3cd7ad27f3f478957c34f8df06b3</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex onBodyB, const Vec3 &amp;originAoInB, Matrix &amp;JF) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcBiasForFrameJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ac9e44a33e1b5d0649aa2baff031841aa</anchor>
      <arglist>(const State &amp;state, const Array_&lt; MobilizedBodyIndex &gt; &amp;onBodyB, const Array_&lt; Vec3 &gt; &amp;originAoInB, Vector_&lt; SpatialVec &gt; &amp;JFDotu) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcBiasForFrameJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a14e983ee73ca90dae676f0f1386519b6</anchor>
      <arglist>(const State &amp;state, const Array_&lt; MobilizedBodyIndex &gt; &amp;onBodyB, const Array_&lt; Vec3 &gt; &amp;originAoInB, Vector &amp;JFDotu) const</arglist>
    </member>
    <member kind="function">
      <type>SpatialVec</type>
      <name>calcBiasForFrameJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a76c30c4ab145c9b11c6dba86f18f1057</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex onBodyB, const Vec3 &amp;originAoInB) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>multiplyByM</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a4c95c1922247ca717f8f5b4751bf704a</anchor>
      <arglist>(const State &amp;state, const Vector &amp;a, Vector &amp;Ma) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>multiplyByMInv</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a3a06d5c75f71747d4fa479e7abfd3971</anchor>
      <arglist>(const State &amp;state, const Vector &amp;v, Vector &amp;MinvV) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcM</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a49c974a8abcd50c0f1d662bdc2297ea9</anchor>
      <arglist>(const State &amp;, Matrix &amp;M) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcMInv</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a04118e791c39959f7a093cd5781f9ab5</anchor>
      <arglist>(const State &amp;, Matrix &amp;MInv) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcProjectedMInv</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>abf833dd0d297247f53ad4b956f4d8455</anchor>
      <arglist>(const State &amp;s, Matrix &amp;GMInvGt) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>solveForConstraintImpulses</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a482586922bb1c58bc309e1a0b3d501e0</anchor>
      <arglist>(const State &amp;state, const Vector &amp;deltaV, Vector &amp;impulse) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>multiplyByG</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a339a373cf4480657d982cef58ffe74c1</anchor>
      <arglist>(const State &amp;state, const Vector &amp;ulike, Vector &amp;Gulike) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>multiplyByG</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a4c080bc497aaa4bc2251c79da222f770</anchor>
      <arglist>(const State &amp;state, const Vector &amp;ulike, const Vector &amp;bias, Vector &amp;Gulike) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcBiasForMultiplyByG</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a5b4cbd990b2cfff54a8fba1048bf21da</anchor>
      <arglist>(const State &amp;state, Vector &amp;bias) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcG</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>aa1b31f1a35d519d303c64ad82428f9ae</anchor>
      <arglist>(const State &amp;state, Matrix &amp;G) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcBiasForAccelerationConstraints</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>afbbb14fe7232d63df52e3f56fd69a2a0</anchor>
      <arglist>(const State &amp;state, Vector &amp;bias) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcConstraintAccelerationErrors</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>af6961b2e3be325a50acfc71e18e1cd9f</anchor>
      <arglist>(const State &amp;state, const Vector &amp;knownUDot, Vector &amp;pvaerr) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>multiplyByGTranspose</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a8a9da182a2dd46ad4159b0e2cd7efb50</anchor>
      <arglist>(const State &amp;state, const Vector &amp;lambda, Vector &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcGTranspose</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ab790bd6457ec2cb8bfef5af104615d06</anchor>
      <arglist>(const State &amp;, Matrix &amp;Gt) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>multiplyByPq</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a2783382d7d735bc7451c13289a79bc0e</anchor>
      <arglist>(const State &amp;state, const Vector &amp;qlike, Vector &amp;PqXqlike) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>multiplyByPq</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a6748363efdd106d1d1e3b21850daf2a3</anchor>
      <arglist>(const State &amp;state, const Vector &amp;qlike, const Vector &amp;biasp, Vector &amp;PqXqlike) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcBiasForMultiplyByPq</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a5c88d0bceee265e0e9b8d21b6c2e21c7</anchor>
      <arglist>(const State &amp;state, Vector &amp;biasp) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcPq</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a2df63f08ff4e61cf541250971ad1ebe7</anchor>
      <arglist>(const State &amp;state, Matrix &amp;Pq) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>multiplyByPqTranspose</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ad550234e8e7081f3e67e26beab104361</anchor>
      <arglist>(const State &amp;state, const Vector &amp;lambdap, Vector &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcPqTranspose</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a1d82fc3bc298f54c4cb1b24b672700e9</anchor>
      <arglist>(const State &amp;state, Matrix &amp;Pqt) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcP</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a05664f6c7aa4e1b436656001ca5672e0</anchor>
      <arglist>(const State &amp;state, Matrix &amp;P) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcPt</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a9bb15c6d72fcea701419624a26d786d6</anchor>
      <arglist>(const State &amp;state, Matrix &amp;Pt) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>multiplyByN</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>acce701c8a6ca9a0b1caa681869371725</anchor>
      <arglist>(const State &amp;s, bool transpose, const Vector &amp;in, Vector &amp;out) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>multiplyByNInv</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a37c72df92eda36381a60e046a15ab30d</anchor>
      <arglist>(const State &amp;s, bool transpose, const Vector &amp;in, Vector &amp;out) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>multiplyByNDot</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a7369407ac98084b84b800e3a4a0c8ae2</anchor>
      <arglist>(const State &amp;s, bool transpose, const Vector &amp;in, Vector &amp;out) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcAcceleration</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a20b53ec5f00a7141a7486cc34998214f</anchor>
      <arglist>(const State &amp;state, const Vector &amp;appliedMobilityForces, const Vector_&lt; SpatialVec &gt; &amp;appliedBodyForces, Vector &amp;udot, Vector_&lt; SpatialVec &gt; &amp;A_GB) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcAccelerationIgnoringConstraints</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a698a398ed2c0ca9b8ecb0b0d8b56fe2f</anchor>
      <arglist>(const State &amp;state, const Vector &amp;appliedMobilityForces, const Vector_&lt; SpatialVec &gt; &amp;appliedBodyForces, Vector &amp;udot, Vector_&lt; SpatialVec &gt; &amp;A_GB) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcResidualForceIgnoringConstraints</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a29a93fe311723421ff87117ab65f8f81</anchor>
      <arglist>(const State &amp;state, const Vector &amp;appliedMobilityForces, const Vector_&lt; SpatialVec &gt; &amp;appliedBodyForces, const Vector &amp;knownUdot, Vector &amp;residualMobilityForces) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcResidualForce</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a2d70c8d0efb3850781dff2483a4cf017</anchor>
      <arglist>(const State &amp;state, const Vector &amp;appliedMobilityForces, const Vector_&lt; SpatialVec &gt; &amp;appliedBodyForces, const Vector &amp;knownUdot, const Vector &amp;knownLambda, Vector &amp;residualMobilityForces) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcCompositeBodyInertias</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a1097a191bdaa113ca97a875fc35ab96b</anchor>
      <arglist>(const State &amp;state, Array_&lt; SpatialInertia, MobilizedBodyIndex &gt; &amp;R) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcBodyAccelerationFromUDot</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a3c340ca99cb804e9e33d736dfa43c066</anchor>
      <arglist>(const State &amp;state, const Vector &amp;knownUDot, Vector_&lt; SpatialVec &gt; &amp;A_GB) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcConstraintForcesFromMultipliers</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a67bb7bcb8f73340ba63264bffb591ce7</anchor>
      <arglist>(const State &amp;state, const Vector &amp;multipliers, Vector_&lt; SpatialVec &gt; &amp;bodyForcesInG, Vector &amp;mobilityForces) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcMobilizerReactionForces</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a1af1e68128d882eebf1cd213640136aa</anchor>
      <arglist>(const State &amp;state, Vector_&lt; SpatialVec &gt; &amp;forcesAtMInG) const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>getMotionMultipliers</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a89024a1ccf3f7d13bfb003ec80ac6f78</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Vector</type>
      <name>calcMotionErrors</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>af4b67fe155e25c8fb8ed341ffc6bde87</anchor>
      <arglist>(const State &amp;state, const Stage &amp;stage) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>findMotionForces</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>af2db9db9729840c852fb16d2f196c59c</anchor>
      <arglist>(const State &amp;state, Vector &amp;mobilityForces) const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>getConstraintMultipliers</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a2aeee63950e043cea04181318328489a</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>findConstraintForces</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>accaa035261197f6c1573a42d5ad003d9</anchor>
      <arglist>(const State &amp;state, Vector_&lt; SpatialVec &gt; &amp;bodyForcesInG, Vector &amp;mobilityForces) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>calcMotionPower</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a485e5ec94f8cd01e5e2e0f0e487ed046</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>calcConstraintPower</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>af8ec0203f2a334f39bb84c0331e0c795</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcTreeEquivalentMobilityForces</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a46868b7cd5b218ffdf71caf527f74ef1</anchor>
      <arglist>(const State &amp;, const Vector_&lt; SpatialVec &gt; &amp;bodyForces, Vector &amp;mobilityForces) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>calcQDot</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>abbfa39aaf358b954690b5597e9607668</anchor>
      <arglist>(const State &amp;s, const Vector &amp;u, Vector &amp;qdot) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>calcQDotDot</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a5e56cf73148b15f8aeb47da72e2b0258</anchor>
      <arglist>(const State &amp;s, const Vector &amp;udot, Vector &amp;qdotdot) const</arglist>
    </member>
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      <type>void</type>
      <name>addInStationForce</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>aadf84f7d5ee84ea774fe51e5c806a39f</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex bodyB, const Vec3 &amp;stationOnB, const Vec3 &amp;forceInG, Vector_&lt; SpatialVec &gt; &amp;bodyForcesInG) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>addInBodyTorque</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ac11bc0dabe8467999e1e6f60bbcb5168</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex mobodIx, const Vec3 &amp;torqueInG, Vector_&lt; SpatialVec &gt; &amp;bodyForcesInG) const</arglist>
    </member>
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      <type>void</type>
      <name>addInMobilityForce</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ae351805996c27b1a178b244226c4be37</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex mobodIx, MobilizerUIndex which, Real f, Vector &amp;mobilityForces) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>realizePositionKinematics</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>afe15082955cdd01993a0bc8b390ed314</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>void</type>
      <name>realizeVelocityKinematics</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ae3d6e1a94635f1866523ac2788a27fe2</anchor>
      <arglist>(const State &amp;) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>realizeCompositeBodyInertias</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a5aeb334d652c5d87a7939faff9816706</anchor>
      <arglist>(const State &amp;) const</arglist>
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      <type>void</type>
      <name>realizeArticulatedBodyInertias</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ab89fcf89490662254306e34157409010</anchor>
      <arglist>(const State &amp;) const</arglist>
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      <type>void</type>
      <name>realizeArticulatedBodyVelocity</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a5f4f7709391f21a0e8298ed314c6161d</anchor>
      <arglist>(const State &amp;) const</arglist>
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    <member kind="function">
      <type>const Array_&lt; QIndex &gt; &amp;</type>
      <name>getFreeQIndex</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>afea863219c3efaff939c5ce79e77609a</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const Array_&lt; UIndex &gt; &amp;</type>
      <name>getFreeUIndex</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a05833768270670f8987dad99eaf5b893</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const Array_&lt; UIndex &gt; &amp;</type>
      <name>getFreeUDotIndex</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a88218b5302c36e8b5b08572da4a7fd21</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const Array_&lt; UIndex &gt; &amp;</type>
      <name>getKnownUDotIndex</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ae35d28f22f08a16c3f159297d213ff05</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>packFreeQ</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a99f6ca2125eaa88294ebf3f3c8730f03</anchor>
      <arglist>(const State &amp;s, const Vector &amp;allQ, Vector &amp;packedFreeQ) const</arglist>
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      <type>void</type>
      <name>unpackFreeQ</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a96cb8530eafe8a39a0a133e6121cd9b3</anchor>
      <arglist>(const State &amp;s, const Vector &amp;packedFreeQ, Vector &amp;unpackedFreeQ) const</arglist>
    </member>
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      <type>void</type>
      <name>packFreeU</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a897fd865f47e78c32ea8bd92c13d91f7</anchor>
      <arglist>(const State &amp;s, const Vector &amp;allU, Vector &amp;packedFreeU) const</arglist>
    </member>
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      <type>void</type>
      <name>unpackFreeU</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>aa59f9970c953c359dfdb6a5a0d36ca43</anchor>
      <arglist>(const State &amp;s, const Vector &amp;packedFreeU, Vector &amp;unpackedFreeU) const</arglist>
    </member>
    <member kind="function">
      <type>const SpatialInertia &amp;</type>
      <name>getCompositeBodyInertia</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a066a9473c79c1acbbd725b9eed6d1b0b</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex mbx) const</arglist>
    </member>
    <member kind="function">
      <type>const ArticulatedInertia &amp;</type>
      <name>getArticulatedBodyInertia</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ad1e5694de1803375055b78d60616acf7</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex mbx) const</arglist>
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    <member kind="function">
      <type>const SpatialVec &amp;</type>
      <name>getGyroscopicForce</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a535addf33054ebf04b7fe4a15fb41891</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex mbx) const</arglist>
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    <member kind="function">
      <type>const SpatialVec &amp;</type>
      <name>getMobilizerCoriolisAcceleration</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>aa902ae99663524016c0c037cbe25678d</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex mbx) const</arglist>
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    <member kind="function">
      <type>const SpatialVec &amp;</type>
      <name>getTotalCoriolisAcceleration</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a924f05c60c6b21db34cc54e56ed28d51</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex mbx) const</arglist>
    </member>
    <member kind="function">
      <type>const SpatialVec &amp;</type>
      <name>getTotalCentrifugalForces</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ad35935a456ddf2d7193bdd9175f8082a</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex mbx) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>calcMobilizerReactionForcesUsingFreebodyMethod</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a92f4107db4cd697fbbea6064c9769770</anchor>
      <arglist>(const State &amp;state, Vector_&lt; SpatialVec &gt; &amp;forcesAtMInG) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>invalidatePositionKinematics</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a26ad897ab748ef0fb1f8118da3488310</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>bool</type>
      <name>isPositionKinematicsRealized</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>af6524e4441791639ccea7922c7ef05ae</anchor>
      <arglist>(const State &amp;) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>invalidateVelocityKinematics</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a38e6bc6be5137475bb5a7d042c30abc4</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>isVelocityKinematicsRealized</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a60a6dc6be701b48912ef810dfb2d4178</anchor>
      <arglist>(const State &amp;) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>invalidateCompositeBodyInertias</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a60342f4ac0206fdcc69cd2c9ec9e7edb</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isCompositeBodyInertiasRealized</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>afac8ae03c63624316b52e6308d44c095</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>invalidateArticulatedBodyInertias</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a3e93d47be0cf6d154c79f5abbf77dc8d</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isArticulatedBodyInertiasRealized</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a88f79736449b361d0dc6d8163956cb14</anchor>
      <arglist>(const State &amp;) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>invalidateArticulatedBodyVelocity</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a517ec5fcfd3c4bf69e07f910398c711e</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
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      <type>bool</type>
      <name>isArticulatedBodyVelocityRealized</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ae6b53d7cb079d2725630a07a88ee6ce5</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getNumParticles</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a70dda1803dd267a0ff8fd2ead9d87d43</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>const Vector_&lt; Vec3 &gt; &amp;</type>
      <name>getAllParticleLocations</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a7568dedc65e4192f352941ce2c1b9204</anchor>
      <arglist>(const State &amp;) const</arglist>
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      <type>const Vector_&lt; Vec3 &gt; &amp;</type>
      <name>getAllParticleVelocities</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a0e889523956b3298623c9c188611f04d</anchor>
      <arglist>(const State &amp;) const</arglist>
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      <type>const Vec3 &amp;</type>
      <name>getParticleLocation</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a8a7e5f0273577de86575f69780d20137</anchor>
      <arglist>(const State &amp;s, ParticleIndex p) const</arglist>
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      <type>const Vec3 &amp;</type>
      <name>getParticleVelocity</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a25ab12bf1f46e3d6a4b51fc29f74dcee</anchor>
      <arglist>(const State &amp;s, ParticleIndex p) const</arglist>
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    <member kind="function">
      <type>Vector &amp;</type>
      <name>updAllParticleMasses</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a2f6303ed78859b5caed9890fdaa6c5d0</anchor>
      <arglist>(State &amp;s) const</arglist>
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      <type>void</type>
      <name>setAllParticleMasses</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a7e1fe7f8546288976f36f63c8880eff3</anchor>
      <arglist>(State &amp;s, const Vector &amp;masses) const</arglist>
    </member>
    <member kind="function">
      <type>Vector_&lt; Vec3 &gt; &amp;</type>
      <name>updAllParticleLocations</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a0e937177c779bd66adc9479bfdf40f0d</anchor>
      <arglist>(State &amp;) const</arglist>
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      <type>Vector_&lt; Vec3 &gt; &amp;</type>
      <name>updAllParticleVelocities</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ad863d0cec4aa678a4f2ad15e3361bc18</anchor>
      <arglist>(State &amp;) const</arglist>
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      <type>Vec3 &amp;</type>
      <name>updParticleLocation</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a773653c6df2b82b3ab3af862323875fb</anchor>
      <arglist>(State &amp;s, ParticleIndex p) const</arglist>
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      <type>Vec3 &amp;</type>
      <name>updParticleVelocity</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a6f3cf54f24cbe78c0f69cf985cb55d01</anchor>
      <arglist>(State &amp;s, ParticleIndex p) const</arglist>
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      <type>void</type>
      <name>setParticleLocation</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ae9d413858e567337af53555890ee0a4a</anchor>
      <arglist>(State &amp;s, ParticleIndex p, const Vec3 &amp;r) const</arglist>
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      <type>void</type>
      <name>setParticleVelocity</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a6d75c972ca647b8f87a7971aa8f41821</anchor>
      <arglist>(State &amp;s, ParticleIndex p, const Vec3 &amp;v) const</arglist>
    </member>
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      <type>void</type>
      <name>setAllParticleLocations</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>abccdf701488ba7b30e854ef0d7d71980</anchor>
      <arglist>(State &amp;s, const Vector_&lt; Vec3 &gt; &amp;r) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setAllParticleVelocities</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a01835793e11406321e24d5fd2e6737e7</anchor>
      <arglist>(State &amp;s, const Vector_&lt; Vec3 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>getAllParticleMasses</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a30501d4d3438031f43660158ec1b3a73</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>const Vector_&lt; Vec3 &gt; &amp;</type>
      <name>getAllParticleAccelerations</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>abcbbca20710f38a6f9ff4f303310d5b2</anchor>
      <arglist>(const State &amp;) const</arglist>
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      <type>const Vec3 &amp;</type>
      <name>getParticleAcceleration</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ac0e73e4fab6f22e308686b1a3e1ce3b2</anchor>
      <arglist>(const State &amp;s, ParticleIndex p) const</arglist>
    </member>
    <member kind="function">
      <type>const SpatialVec &amp;</type>
      <name>getMobilizerCentrifugalForces</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a6ed041c37c2c385e1328373388e25708</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex mbx) const</arglist>
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    <member kind="function">
      <type>std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ada91148391d89bcdcfd812c91cf16fbb</anchor>
      <arglist>(std::ostream &amp;, const SimbodyMatterSubsystem &amp;)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SimbodyMatterSubsystem</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a1b1f2127fdc50c1c92b5a20db22cd43f</anchor>
      <arglist>(MultibodySystem &amp;)</arglist>
    </member>
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      <type></type>
      <name>SimbodyMatterSubsystem</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a4b5ec5c33a93af6d9e3a8ebc6bf37b51</anchor>
      <arglist>()</arglist>
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      <type></type>
      <name>~SimbodyMatterSubsystem</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ac49f39cefdaee87456ea572c72e1f1a1</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>const MobilizedBody &amp;</type>
      <name>getMobilizedBody</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ad5b8a5a13e1dc86d8ba8044b351c6bdc</anchor>
      <arglist>(MobilizedBodyIndex) const</arglist>
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    <member kind="function">
      <type>MobilizedBody &amp;</type>
      <name>updMobilizedBody</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a5142442d0d59524a47f604584040fdc1</anchor>
      <arglist>(MobilizedBodyIndex)</arglist>
    </member>
    <member kind="function">
      <type>const MobilizedBody::Ground &amp;</type>
      <name>getGround</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a903434aff60bd8c1cce43cdfad8906d2</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MobilizedBody::Ground &amp;</type>
      <name>updGround</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a0851b330170f8e5a0700382ddf58bd22</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>MobilizedBody::Ground &amp;</type>
      <name>Ground</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a7776baa71fc6d342f3140284b56553fb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const Constraint &amp;</type>
      <name>getConstraint</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a24c1a9d82a9736a481ed6b354ba00e6a</anchor>
      <arglist>(ConstraintIndex) const</arglist>
    </member>
    <member kind="function">
      <type>Constraint &amp;</type>
      <name>updConstraint</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a85ca8b7eb162893128a6abc69d522e62</anchor>
      <arglist>(ConstraintIndex)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setShowDefaultGeometry</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a19657abf3c40de3bc74bede59f8b1f7d</anchor>
      <arglist>(bool show)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getShowDefaultGeometry</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a86f8327dfdc9c8cd1b382cf27e7cd37a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getNumBodies</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a45f40d04cfab14431af5abbaf60e1cce</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getNumConstraints</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>acfcd1876e2525cc9fb102cd299cce203</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getNumMobilities</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>abcd2acffb10679e18813eeddb734fc2d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getTotalQAlloc</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>aaa2f35fc427997efab70e1825caaf472</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MobilizedBodyIndex</type>
      <name>adoptMobilizedBody</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a59d3e416b8263877d3e599774554f78d</anchor>
      <arglist>(MobilizedBodyIndex parent, MobilizedBody &amp;child)</arglist>
    </member>
    <member kind="function">
      <type>ConstraintIndex</type>
      <name>adoptConstraint</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>adf98f3426a2778ba1db81c5d76bccce2</anchor>
      <arglist>(Constraint &amp;)</arglist>
    </member>
    <member kind="function">
      <type>UnilateralContactIndex</type>
      <name>adoptUnilateralContact</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a1f6b02ae234cc0784aa40f4a6d94cf27</anchor>
      <arglist>(UnilateralContact *)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getNumUnilateralContacts</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a9be69c620957a93b9b797b3c4d2ed124</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const UnilateralContact &amp;</type>
      <name>getUnilateralContact</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a5a4f3a61791e7ac3870a899e8216952b</anchor>
      <arglist>(UnilateralContactIndex) const</arglist>
    </member>
    <member kind="function">
      <type>UnilateralContact &amp;</type>
      <name>updUnilateralContact</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a7d443f6085527aaa5a0e754d6ea42a57</anchor>
      <arglist>(UnilateralContactIndex)</arglist>
    </member>
    <member kind="function">
      <type>StateLimitedFrictionIndex</type>
      <name>adoptStateLimitedFriction</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ade345270c030aaf4e4521b49c6dd4231</anchor>
      <arglist>(StateLimitedFriction *)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getNumStateLimitedFrictions</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a00faa4c404c31ded89c06f0ad7c1d509</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const StateLimitedFriction &amp;</type>
      <name>getStateLimitedFriction</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a357b654dad770f79263dafaa2aafeb06</anchor>
      <arglist>(StateLimitedFrictionIndex) const</arglist>
    </member>
    <member kind="function">
      <type>StateLimitedFriction &amp;</type>
      <name>updStateLimitedFriction</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a9ae7adcc1ce992f808f2402649e81e95</anchor>
      <arglist>(StateLimitedFrictionIndex)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SimbodyMatterSubsystem</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>af874cd8e7ca24c492042a0eef52ec9e8</anchor>
      <arglist>(const SimbodyMatterSubsystem &amp;ss)</arglist>
    </member>
    <member kind="function">
      <type>SimbodyMatterSubsystem &amp;</type>
      <name>operator=</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a29e07d273b578e2d1ae9935de12da608</anchor>
      <arglist>(const SimbodyMatterSubsystem &amp;ss)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setUseEulerAngles</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a0164088f7e48b71db08706c65b6467ea</anchor>
      <arglist>(State &amp;state, bool useEulerAngles) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getUseEulerAngles</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>adf982ad4fe5e4a869346593fb454db89</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getNumQuaternionsInUse</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a88a8b52991614ad6b600cafa82cf917b</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isUsingQuaternion</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a3d662f1db0c80568e51c88da5d1fef4a</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex mobodIx) const</arglist>
    </member>
    <member kind="function">
      <type>QuaternionPoolIndex</type>
      <name>getQuaternionPoolIndex</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>aea1463bd323e19002ff3b05c7cb3d7c5</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex mobodIx) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setConstraintIsDisabled</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a4a54e463f72432d1b1c97fb3f324439f</anchor>
      <arglist>(State &amp;state, ConstraintIndex constraintIx, bool shouldDisableConstraint) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isConstraintDisabled</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>afe4fa4b6ac99dfd2505f6d95189864d4</anchor>
      <arglist>(const State &amp;, ConstraintIndex constraint) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>convertToEulerAngles</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ad6e92e3504739bb2791cca77035df980</anchor>
      <arglist>(const State &amp;inputState, State &amp;outputState) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>convertToQuaternions</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a68b377a776773482e43e5b89ebe0386b</anchor>
      <arglist>(const State &amp;inputState, State &amp;outputState) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalizeQuaternions</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a9867fb6504a2d9e33062db098299d25f</anchor>
      <arglist>(State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>calcSystemMass</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>aa1a9bc99d6feb480c714f57073be8b2e</anchor>
      <arglist>(const State &amp;s) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>calcSystemMassCenterLocationInGround</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a459dbe161f3f40a31688851d0aab687c</anchor>
      <arglist>(const State &amp;s) const</arglist>
    </member>
    <member kind="function">
      <type>MassProperties</type>
      <name>calcSystemMassPropertiesInGround</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>af29174087d29ce0fb47d974dee778973</anchor>
      <arglist>(const State &amp;s) const</arglist>
    </member>
    <member kind="function">
      <type>Inertia</type>
      <name>calcSystemCentralInertiaInGround</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a5ec0416ba22b4b23012b605cf8f707ef</anchor>
      <arglist>(const State &amp;s) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>calcSystemMassCenterVelocityInGround</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a7e7c4a8c901513ef0eaff6cabe030ca6</anchor>
      <arglist>(const State &amp;s) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>calcSystemMassCenterAccelerationInGround</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ae3beee3925d85bc63e874afde3eeca2c</anchor>
      <arglist>(const State &amp;s) const</arglist>
    </member>
    <member kind="function">
      <type>SpatialVec</type>
      <name>calcSystemMomentumAboutGroundOrigin</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a9778e7621be2331052674953e2864d30</anchor>
      <arglist>(const State &amp;s) const</arglist>
    </member>
    <member kind="function">
      <type>SpatialVec</type>
      <name>calcSystemCentralMomentum</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>abf8b7b6eaf6d1a7441ed605a30f13d96</anchor>
      <arglist>(const State &amp;s) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>calcKineticEnergy</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ac6cca0ac3895c7ab813a99162d7c85aa</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>multiplyBySystemJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a6cdfd4c182fd6b3f129e8f2bc1b6e6e6</anchor>
      <arglist>(const State &amp;state, const Vector &amp;u, Vector_&lt; SpatialVec &gt; &amp;Ju) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcBiasForSystemJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a8b13161134a51492ea355a1eaae99dec</anchor>
      <arglist>(const State &amp;state, Vector_&lt; SpatialVec &gt; &amp;JDotu) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcBiasForSystemJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>af6f1444c32982e68d8157a8435c61f55</anchor>
      <arglist>(const State &amp;state, Vector &amp;JDotu) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>multiplyBySystemJacobianTranspose</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a2a6e9006e2a8e513f940e5e337c82329</anchor>
      <arglist>(const State &amp;state, const Vector_&lt; SpatialVec &gt; &amp;F_G, Vector &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcSystemJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a4c9e16d57c4d129a22311c26f4a555e3</anchor>
      <arglist>(const State &amp;state, Matrix_&lt; SpatialVec &gt; &amp;J_G) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcSystemJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>aca444046ca1a2cae0c80b7846c29abf4</anchor>
      <arglist>(const State &amp;state, Matrix &amp;J_G) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>multiplyByStationJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a9043c480738ccd9af077914c62e1c02a</anchor>
      <arglist>(const State &amp;state, const Array_&lt; MobilizedBodyIndex &gt; &amp;onBodyB, const Array_&lt; Vec3 &gt; &amp;stationPInB, const Vector &amp;u, Vector_&lt; Vec3 &gt; &amp;JSu) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>multiplyByStationJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ad5dbf65d8b88c13468888964cd511479</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex onBodyB, const Vec3 &amp;stationPInB, const Vector &amp;u) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>multiplyByStationJacobianTranspose</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a5e5e384f7e3dbf14be82f91156a942e6</anchor>
      <arglist>(const State &amp;state, const Array_&lt; MobilizedBodyIndex &gt; &amp;onBodyB, const Array_&lt; Vec3 &gt; &amp;stationPInB, const Vector_&lt; Vec3 &gt; &amp;f_GP, Vector &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>multiplyByStationJacobianTranspose</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a45fa4f9017618d84d4da705088a8e06f</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex onBodyB, const Vec3 &amp;stationPInB, const Vec3 &amp;f_GP, Vector &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcStationJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a609c9185a6855337ad7e0a6a28352d73</anchor>
      <arglist>(const State &amp;state, const Array_&lt; MobilizedBodyIndex &gt; &amp;onBodyB, const Array_&lt; Vec3 &gt; &amp;stationPInB, Matrix_&lt; Vec3 &gt; &amp;JS) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcStationJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>af27560a2741e1d8e93f41671101927f3</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex onBodyB, const Vec3 &amp;stationPInB, RowVector_&lt; Vec3 &gt; &amp;JS) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcStationJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a3eaf0210388cde7033d23f8254bf0b5a</anchor>
      <arglist>(const State &amp;state, const Array_&lt; MobilizedBodyIndex &gt; &amp;onBodyB, const Array_&lt; Vec3 &gt; &amp;stationPInB, Matrix &amp;JS) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcStationJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a7ea22d30ca5f984f6079b91eea0ed928</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex onBodyB, const Vec3 &amp;stationPInB, Matrix &amp;JS) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcBiasForStationJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a991359a02df025302e67f90de61f9c13</anchor>
      <arglist>(const State &amp;state, const Array_&lt; MobilizedBodyIndex &gt; &amp;onBodyB, const Array_&lt; Vec3 &gt; &amp;stationPInB, Vector_&lt; Vec3 &gt; &amp;JSDotu) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcBiasForStationJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a8f6dd4c627e1aed36297001f2ff73d5c</anchor>
      <arglist>(const State &amp;state, const Array_&lt; MobilizedBodyIndex &gt; &amp;onBodyB, const Array_&lt; Vec3 &gt; &amp;stationPInB, Vector &amp;JSDotu) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>calcBiasForStationJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ab8d0adf617de56f182165241c45d5dfe</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex onBodyB, const Vec3 &amp;stationPInB) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>multiplyByFrameJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a2d9c3d793cf53968c089dc59732ac639</anchor>
      <arglist>(const State &amp;state, const Array_&lt; MobilizedBodyIndex &gt; &amp;onBodyB, const Array_&lt; Vec3 &gt; &amp;originAoInB, const Vector &amp;u, Vector_&lt; SpatialVec &gt; &amp;JFu) const</arglist>
    </member>
    <member kind="function">
      <type>SpatialVec</type>
      <name>multiplyByFrameJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a51d13f6ee1f192d26a6f1c7ac1fed670</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex onBodyB, const Vec3 &amp;originAoInB, const Vector &amp;u) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>multiplyByFrameJacobianTranspose</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>aaed9e569f3d409734fc8930e9774e629</anchor>
      <arglist>(const State &amp;state, const Array_&lt; MobilizedBodyIndex &gt; &amp;onBodyB, const Array_&lt; Vec3 &gt; &amp;originAoInB, const Vector_&lt; SpatialVec &gt; &amp;F_GAo, Vector &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>multiplyByFrameJacobianTranspose</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ac7c3a91c6786c60bc247b33051c04627</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex onBodyB, const Vec3 &amp;originAoInB, const SpatialVec &amp;F_GAo, Vector &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcFrameJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a62cd2dc07b0e88b0a2db0689221ae1b9</anchor>
      <arglist>(const State &amp;state, const Array_&lt; MobilizedBodyIndex &gt; &amp;onBodyB, const Array_&lt; Vec3 &gt; &amp;originAoInB, Matrix_&lt; SpatialVec &gt; &amp;JF) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcFrameJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ac949f57c30f6653d374f057e4ef3f22b</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex onBodyB, const Vec3 &amp;originAoInB, RowVector_&lt; SpatialVec &gt; &amp;JF) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcFrameJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a4a2c501d7903e69f96f649a459cb4b5c</anchor>
      <arglist>(const State &amp;state, const Array_&lt; MobilizedBodyIndex &gt; &amp;onBodyB, const Array_&lt; Vec3 &gt; &amp;originAoInB, Matrix &amp;JF) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcFrameJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ab48c3cd7ad27f3f478957c34f8df06b3</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex onBodyB, const Vec3 &amp;originAoInB, Matrix &amp;JF) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcBiasForFrameJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ac9e44a33e1b5d0649aa2baff031841aa</anchor>
      <arglist>(const State &amp;state, const Array_&lt; MobilizedBodyIndex &gt; &amp;onBodyB, const Array_&lt; Vec3 &gt; &amp;originAoInB, Vector_&lt; SpatialVec &gt; &amp;JFDotu) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcBiasForFrameJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a14e983ee73ca90dae676f0f1386519b6</anchor>
      <arglist>(const State &amp;state, const Array_&lt; MobilizedBodyIndex &gt; &amp;onBodyB, const Array_&lt; Vec3 &gt; &amp;originAoInB, Vector &amp;JFDotu) const</arglist>
    </member>
    <member kind="function">
      <type>SpatialVec</type>
      <name>calcBiasForFrameJacobian</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a76c30c4ab145c9b11c6dba86f18f1057</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex onBodyB, const Vec3 &amp;originAoInB) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>multiplyByM</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a4c95c1922247ca717f8f5b4751bf704a</anchor>
      <arglist>(const State &amp;state, const Vector &amp;a, Vector &amp;Ma) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>multiplyByMInv</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a3a06d5c75f71747d4fa479e7abfd3971</anchor>
      <arglist>(const State &amp;state, const Vector &amp;v, Vector &amp;MinvV) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcM</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a49c974a8abcd50c0f1d662bdc2297ea9</anchor>
      <arglist>(const State &amp;, Matrix &amp;M) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcMInv</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a04118e791c39959f7a093cd5781f9ab5</anchor>
      <arglist>(const State &amp;, Matrix &amp;MInv) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcProjectedMInv</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>abf833dd0d297247f53ad4b956f4d8455</anchor>
      <arglist>(const State &amp;s, Matrix &amp;GMInvGt) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>solveForConstraintImpulses</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a482586922bb1c58bc309e1a0b3d501e0</anchor>
      <arglist>(const State &amp;state, const Vector &amp;deltaV, Vector &amp;impulse) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>multiplyByG</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a339a373cf4480657d982cef58ffe74c1</anchor>
      <arglist>(const State &amp;state, const Vector &amp;ulike, Vector &amp;Gulike) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>multiplyByG</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a4c080bc497aaa4bc2251c79da222f770</anchor>
      <arglist>(const State &amp;state, const Vector &amp;ulike, const Vector &amp;bias, Vector &amp;Gulike) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcBiasForMultiplyByG</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a5b4cbd990b2cfff54a8fba1048bf21da</anchor>
      <arglist>(const State &amp;state, Vector &amp;bias) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcG</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>aa1b31f1a35d519d303c64ad82428f9ae</anchor>
      <arglist>(const State &amp;state, Matrix &amp;G) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcBiasForAccelerationConstraints</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>afbbb14fe7232d63df52e3f56fd69a2a0</anchor>
      <arglist>(const State &amp;state, Vector &amp;bias) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcConstraintAccelerationErrors</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>af6961b2e3be325a50acfc71e18e1cd9f</anchor>
      <arglist>(const State &amp;state, const Vector &amp;knownUDot, Vector &amp;pvaerr) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>multiplyByGTranspose</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a8a9da182a2dd46ad4159b0e2cd7efb50</anchor>
      <arglist>(const State &amp;state, const Vector &amp;lambda, Vector &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcGTranspose</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ab790bd6457ec2cb8bfef5af104615d06</anchor>
      <arglist>(const State &amp;, Matrix &amp;Gt) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>multiplyByPq</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a2783382d7d735bc7451c13289a79bc0e</anchor>
      <arglist>(const State &amp;state, const Vector &amp;qlike, Vector &amp;PqXqlike) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>multiplyByPq</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a6748363efdd106d1d1e3b21850daf2a3</anchor>
      <arglist>(const State &amp;state, const Vector &amp;qlike, const Vector &amp;biasp, Vector &amp;PqXqlike) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcBiasForMultiplyByPq</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a5c88d0bceee265e0e9b8d21b6c2e21c7</anchor>
      <arglist>(const State &amp;state, Vector &amp;biasp) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcPq</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a2df63f08ff4e61cf541250971ad1ebe7</anchor>
      <arglist>(const State &amp;state, Matrix &amp;Pq) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>multiplyByPqTranspose</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ad550234e8e7081f3e67e26beab104361</anchor>
      <arglist>(const State &amp;state, const Vector &amp;lambdap, Vector &amp;f) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcPqTranspose</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a1d82fc3bc298f54c4cb1b24b672700e9</anchor>
      <arglist>(const State &amp;state, Matrix &amp;Pqt) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcP</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a05664f6c7aa4e1b436656001ca5672e0</anchor>
      <arglist>(const State &amp;state, Matrix &amp;P) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcPt</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a9bb15c6d72fcea701419624a26d786d6</anchor>
      <arglist>(const State &amp;state, Matrix &amp;Pt) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>multiplyByN</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>acce701c8a6ca9a0b1caa681869371725</anchor>
      <arglist>(const State &amp;s, bool transpose, const Vector &amp;in, Vector &amp;out) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>multiplyByNInv</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a37c72df92eda36381a60e046a15ab30d</anchor>
      <arglist>(const State &amp;s, bool transpose, const Vector &amp;in, Vector &amp;out) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>multiplyByNDot</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a7369407ac98084b84b800e3a4a0c8ae2</anchor>
      <arglist>(const State &amp;s, bool transpose, const Vector &amp;in, Vector &amp;out) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcAcceleration</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a20b53ec5f00a7141a7486cc34998214f</anchor>
      <arglist>(const State &amp;state, const Vector &amp;appliedMobilityForces, const Vector_&lt; SpatialVec &gt; &amp;appliedBodyForces, Vector &amp;udot, Vector_&lt; SpatialVec &gt; &amp;A_GB) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcAccelerationIgnoringConstraints</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a698a398ed2c0ca9b8ecb0b0d8b56fe2f</anchor>
      <arglist>(const State &amp;state, const Vector &amp;appliedMobilityForces, const Vector_&lt; SpatialVec &gt; &amp;appliedBodyForces, Vector &amp;udot, Vector_&lt; SpatialVec &gt; &amp;A_GB) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcResidualForceIgnoringConstraints</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a29a93fe311723421ff87117ab65f8f81</anchor>
      <arglist>(const State &amp;state, const Vector &amp;appliedMobilityForces, const Vector_&lt; SpatialVec &gt; &amp;appliedBodyForces, const Vector &amp;knownUdot, Vector &amp;residualMobilityForces) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcResidualForce</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a2d70c8d0efb3850781dff2483a4cf017</anchor>
      <arglist>(const State &amp;state, const Vector &amp;appliedMobilityForces, const Vector_&lt; SpatialVec &gt; &amp;appliedBodyForces, const Vector &amp;knownUdot, const Vector &amp;knownLambda, Vector &amp;residualMobilityForces) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcCompositeBodyInertias</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a1097a191bdaa113ca97a875fc35ab96b</anchor>
      <arglist>(const State &amp;state, Array_&lt; SpatialInertia, MobilizedBodyIndex &gt; &amp;R) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcBodyAccelerationFromUDot</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a3c340ca99cb804e9e33d736dfa43c066</anchor>
      <arglist>(const State &amp;state, const Vector &amp;knownUDot, Vector_&lt; SpatialVec &gt; &amp;A_GB) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcConstraintForcesFromMultipliers</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a67bb7bcb8f73340ba63264bffb591ce7</anchor>
      <arglist>(const State &amp;state, const Vector &amp;multipliers, Vector_&lt; SpatialVec &gt; &amp;bodyForcesInG, Vector &amp;mobilityForces) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcMobilizerReactionForces</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a1af1e68128d882eebf1cd213640136aa</anchor>
      <arglist>(const State &amp;state, Vector_&lt; SpatialVec &gt; &amp;forcesAtMInG) const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>getMotionMultipliers</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a89024a1ccf3f7d13bfb003ec80ac6f78</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Vector</type>
      <name>calcMotionErrors</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>af4b67fe155e25c8fb8ed341ffc6bde87</anchor>
      <arglist>(const State &amp;state, const Stage &amp;stage) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>findMotionForces</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>af2db9db9729840c852fb16d2f196c59c</anchor>
      <arglist>(const State &amp;state, Vector &amp;mobilityForces) const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>getConstraintMultipliers</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a2aeee63950e043cea04181318328489a</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>findConstraintForces</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>accaa035261197f6c1573a42d5ad003d9</anchor>
      <arglist>(const State &amp;state, Vector_&lt; SpatialVec &gt; &amp;bodyForcesInG, Vector &amp;mobilityForces) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>calcMotionPower</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a485e5ec94f8cd01e5e2e0f0e487ed046</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>calcConstraintPower</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>af8ec0203f2a334f39bb84c0331e0c795</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcTreeEquivalentMobilityForces</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a46868b7cd5b218ffdf71caf527f74ef1</anchor>
      <arglist>(const State &amp;, const Vector_&lt; SpatialVec &gt; &amp;bodyForces, Vector &amp;mobilityForces) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcQDot</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>abbfa39aaf358b954690b5597e9607668</anchor>
      <arglist>(const State &amp;s, const Vector &amp;u, Vector &amp;qdot) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcQDotDot</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a5e56cf73148b15f8aeb47da72e2b0258</anchor>
      <arglist>(const State &amp;s, const Vector &amp;udot, Vector &amp;qdotdot) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>addInStationForce</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>aadf84f7d5ee84ea774fe51e5c806a39f</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex bodyB, const Vec3 &amp;stationOnB, const Vec3 &amp;forceInG, Vector_&lt; SpatialVec &gt; &amp;bodyForcesInG) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>addInBodyTorque</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ac11bc0dabe8467999e1e6f60bbcb5168</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex mobodIx, const Vec3 &amp;torqueInG, Vector_&lt; SpatialVec &gt; &amp;bodyForcesInG) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>addInMobilityForce</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ae351805996c27b1a178b244226c4be37</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex mobodIx, MobilizerUIndex which, Real f, Vector &amp;mobilityForces) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>realizePositionKinematics</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>afe15082955cdd01993a0bc8b390ed314</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>realizeVelocityKinematics</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ae3d6e1a94635f1866523ac2788a27fe2</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>realizeCompositeBodyInertias</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a5aeb334d652c5d87a7939faff9816706</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>realizeArticulatedBodyInertias</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ab89fcf89490662254306e34157409010</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>realizeArticulatedBodyVelocity</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a5f4f7709391f21a0e8298ed314c6161d</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>const Array_&lt; QIndex &gt; &amp;</type>
      <name>getFreeQIndex</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>afea863219c3efaff939c5ce79e77609a</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>const Array_&lt; UIndex &gt; &amp;</type>
      <name>getFreeUIndex</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a05833768270670f8987dad99eaf5b893</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>const Array_&lt; UIndex &gt; &amp;</type>
      <name>getFreeUDotIndex</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a88218b5302c36e8b5b08572da4a7fd21</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>const Array_&lt; UIndex &gt; &amp;</type>
      <name>getKnownUDotIndex</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ae35d28f22f08a16c3f159297d213ff05</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>packFreeQ</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a99f6ca2125eaa88294ebf3f3c8730f03</anchor>
      <arglist>(const State &amp;s, const Vector &amp;allQ, Vector &amp;packedFreeQ) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>unpackFreeQ</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a96cb8530eafe8a39a0a133e6121cd9b3</anchor>
      <arglist>(const State &amp;s, const Vector &amp;packedFreeQ, Vector &amp;unpackedFreeQ) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>packFreeU</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a897fd865f47e78c32ea8bd92c13d91f7</anchor>
      <arglist>(const State &amp;s, const Vector &amp;allU, Vector &amp;packedFreeU) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>unpackFreeU</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>aa59f9970c953c359dfdb6a5a0d36ca43</anchor>
      <arglist>(const State &amp;s, const Vector &amp;packedFreeU, Vector &amp;unpackedFreeU) const</arglist>
    </member>
    <member kind="function">
      <type>const SpatialInertia &amp;</type>
      <name>getCompositeBodyInertia</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a066a9473c79c1acbbd725b9eed6d1b0b</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex mbx) const</arglist>
    </member>
    <member kind="function">
      <type>const ArticulatedInertia &amp;</type>
      <name>getArticulatedBodyInertia</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ad1e5694de1803375055b78d60616acf7</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex mbx) const</arglist>
    </member>
    <member kind="function">
      <type>const SpatialVec &amp;</type>
      <name>getGyroscopicForce</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a535addf33054ebf04b7fe4a15fb41891</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex mbx) const</arglist>
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    <member kind="function">
      <type>const SpatialVec &amp;</type>
      <name>getMobilizerCoriolisAcceleration</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>aa902ae99663524016c0c037cbe25678d</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex mbx) const</arglist>
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    <member kind="function">
      <type>const SpatialVec &amp;</type>
      <name>getTotalCoriolisAcceleration</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a924f05c60c6b21db34cc54e56ed28d51</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex mbx) const</arglist>
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    <member kind="function">
      <type>const SpatialVec &amp;</type>
      <name>getTotalCentrifugalForces</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ad35935a456ddf2d7193bdd9175f8082a</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex mbx) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>calcMobilizerReactionForcesUsingFreebodyMethod</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a92f4107db4cd697fbbea6064c9769770</anchor>
      <arglist>(const State &amp;state, Vector_&lt; SpatialVec &gt; &amp;forcesAtMInG) const</arglist>
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      <type>void</type>
      <name>invalidatePositionKinematics</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a26ad897ab748ef0fb1f8118da3488310</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>bool</type>
      <name>isPositionKinematicsRealized</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>af6524e4441791639ccea7922c7ef05ae</anchor>
      <arglist>(const State &amp;) const</arglist>
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      <type>void</type>
      <name>invalidateVelocityKinematics</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a38e6bc6be5137475bb5a7d042c30abc4</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>isVelocityKinematicsRealized</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a60a6dc6be701b48912ef810dfb2d4178</anchor>
      <arglist>(const State &amp;) const</arglist>
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      <type>void</type>
      <name>invalidateCompositeBodyInertias</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a60342f4ac0206fdcc69cd2c9ec9e7edb</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>bool</type>
      <name>isCompositeBodyInertiasRealized</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>afac8ae03c63624316b52e6308d44c095</anchor>
      <arglist>(const State &amp;) const</arglist>
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      <type>void</type>
      <name>invalidateArticulatedBodyInertias</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a3e93d47be0cf6d154c79f5abbf77dc8d</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>bool</type>
      <name>isArticulatedBodyInertiasRealized</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a88f79736449b361d0dc6d8163956cb14</anchor>
      <arglist>(const State &amp;) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>invalidateArticulatedBodyVelocity</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a517ec5fcfd3c4bf69e07f910398c711e</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>bool</type>
      <name>isArticulatedBodyVelocityRealized</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ae6b53d7cb079d2725630a07a88ee6ce5</anchor>
      <arglist>(const State &amp;) const</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getNumParticles</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a70dda1803dd267a0ff8fd2ead9d87d43</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>const Vector_&lt; Vec3 &gt; &amp;</type>
      <name>getAllParticleLocations</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a7568dedc65e4192f352941ce2c1b9204</anchor>
      <arglist>(const State &amp;) const</arglist>
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      <type>const Vector_&lt; Vec3 &gt; &amp;</type>
      <name>getAllParticleVelocities</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a0e889523956b3298623c9c188611f04d</anchor>
      <arglist>(const State &amp;) const</arglist>
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      <type>const Vec3 &amp;</type>
      <name>getParticleLocation</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a8a7e5f0273577de86575f69780d20137</anchor>
      <arglist>(const State &amp;s, ParticleIndex p) const</arglist>
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      <type>const Vec3 &amp;</type>
      <name>getParticleVelocity</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a25ab12bf1f46e3d6a4b51fc29f74dcee</anchor>
      <arglist>(const State &amp;s, ParticleIndex p) const</arglist>
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      <type>Vector &amp;</type>
      <name>updAllParticleMasses</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a2f6303ed78859b5caed9890fdaa6c5d0</anchor>
      <arglist>(State &amp;s) const</arglist>
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      <type>void</type>
      <name>setAllParticleMasses</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a7e1fe7f8546288976f36f63c8880eff3</anchor>
      <arglist>(State &amp;s, const Vector &amp;masses) const</arglist>
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    <member kind="function">
      <type>Vector_&lt; Vec3 &gt; &amp;</type>
      <name>updAllParticleLocations</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a0e937177c779bd66adc9479bfdf40f0d</anchor>
      <arglist>(State &amp;) const</arglist>
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      <type>Vector_&lt; Vec3 &gt; &amp;</type>
      <name>updAllParticleVelocities</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ad863d0cec4aa678a4f2ad15e3361bc18</anchor>
      <arglist>(State &amp;) const</arglist>
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    <member kind="function">
      <type>Vec3 &amp;</type>
      <name>updParticleLocation</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a773653c6df2b82b3ab3af862323875fb</anchor>
      <arglist>(State &amp;s, ParticleIndex p) const</arglist>
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    <member kind="function">
      <type>Vec3 &amp;</type>
      <name>updParticleVelocity</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a6f3cf54f24cbe78c0f69cf985cb55d01</anchor>
      <arglist>(State &amp;s, ParticleIndex p) const</arglist>
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      <type>void</type>
      <name>setParticleLocation</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ae9d413858e567337af53555890ee0a4a</anchor>
      <arglist>(State &amp;s, ParticleIndex p, const Vec3 &amp;r) const</arglist>
    </member>
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      <type>void</type>
      <name>setParticleVelocity</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a6d75c972ca647b8f87a7971aa8f41821</anchor>
      <arglist>(State &amp;s, ParticleIndex p, const Vec3 &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setAllParticleLocations</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>abccdf701488ba7b30e854ef0d7d71980</anchor>
      <arglist>(State &amp;s, const Vector_&lt; Vec3 &gt; &amp;r) const</arglist>
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      <type>void</type>
      <name>setAllParticleVelocities</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a01835793e11406321e24d5fd2e6737e7</anchor>
      <arglist>(State &amp;s, const Vector_&lt; Vec3 &gt; &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>getAllParticleMasses</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a30501d4d3438031f43660158ec1b3a73</anchor>
      <arglist>(const State &amp;) const</arglist>
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      <type>const Vector_&lt; Vec3 &gt; &amp;</type>
      <name>getAllParticleAccelerations</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>abcbbca20710f38a6f9ff4f303310d5b2</anchor>
      <arglist>(const State &amp;) const</arglist>
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      <type>const Vec3 &amp;</type>
      <name>getParticleAcceleration</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ac0e73e4fab6f22e308686b1a3e1ce3b2</anchor>
      <arglist>(const State &amp;s, ParticleIndex p) const</arglist>
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      <type>const SpatialVec &amp;</type>
      <name>getMobilizerCentrifugalForces</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a6ed041c37c2c385e1328373388e25708</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex mbx) const</arglist>
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  <compound kind="class">
    <name>SimTK::SimbodyMatterSubtree</name>
    <filename>classSimTK_1_1SimbodyMatterSubtree.html</filename>
    <member kind="function">
      <type></type>
      <name>SimbodyMatterSubtree</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtree.html</anchorfile>
      <anchor>a09a64212bea91d9e45b8505c52dd9856</anchor>
      <arglist>()</arglist>
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      <type></type>
      <name>SimbodyMatterSubtree</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtree.html</anchorfile>
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      <arglist>(const SimbodyMatterSubtree &amp;)</arglist>
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      <type>SimbodyMatterSubtree &amp;</type>
      <name>operator=</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtree.html</anchorfile>
      <anchor>ac898a388ef45018d3e8f5520303dd2cc</anchor>
      <arglist>(const SimbodyMatterSubtree &amp;)</arglist>
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    <member kind="function">
      <type></type>
      <name>~SimbodyMatterSubtree</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtree.html</anchorfile>
      <anchor>abad5cb8cf5d6c0e8844dd36bccbfae20</anchor>
      <arglist>()</arglist>
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      <type></type>
      <name>SimbodyMatterSubtree</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtree.html</anchorfile>
      <anchor>ae460c2e3212a0a72f2a9af306d790550</anchor>
      <arglist>(const SimbodyMatterSubsystem &amp;)</arglist>
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      <type></type>
      <name>SimbodyMatterSubtree</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtree.html</anchorfile>
      <anchor>a0eedc6e7709b3ae4d7a9d504ff07848f</anchor>
      <arglist>(const SimbodyMatterSubsystem &amp;, const Array_&lt; MobilizedBodyIndex &gt; &amp;terminalBodies)</arglist>
    </member>
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      <type>void</type>
      <name>setSimbodyMatterSubsystem</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtree.html</anchorfile>
      <anchor>a86a3a102d70721d818a7f2510b0279ed</anchor>
      <arglist>(const SimbodyMatterSubsystem &amp;matter)</arglist>
    </member>
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      <type>const SimbodyMatterSubsystem &amp;</type>
      <name>getSimbodyMatterSubsystem</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtree.html</anchorfile>
      <anchor>a96e050c20a38ee51fcc619fc457bec93</anchor>
      <arglist>() const</arglist>
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      <type>void</type>
      <name>clear</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtree.html</anchorfile>
      <anchor>a811572b16c23bfd7bf8d3538d94bcc55</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>SimbodyMatterSubtree &amp;</type>
      <name>addTerminalBody</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtree.html</anchorfile>
      <anchor>a875bf9861e8a77828b1bc9ba28aa097e</anchor>
      <arglist>(MobilizedBodyIndex)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>realizeTopology</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtree.html</anchorfile>
      <anchor>a154222f2cbc984d48c2afc3fbdff18a9</anchor>
      <arglist>()</arglist>
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      <type>int</type>
      <name>getNumSubtreeBodies</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtree.html</anchorfile>
      <anchor>aac7ab04189cb1e22917e9c8fe17d4522</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>MobilizedBodyIndex</type>
      <name>getAncestorMobilizedBodyIndex</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtree.html</anchorfile>
      <anchor>a2fe917d10206bbf12d789513ee5f120b</anchor>
      <arglist>() const</arglist>
    </member>
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      <type>const Array_&lt; MobilizedBodyIndex &gt; &amp;</type>
      <name>getTerminalBodies</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtree.html</anchorfile>
      <anchor>a3bba5c4b6d625b7442f3f703224de20e</anchor>
      <arglist>() const</arglist>
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      <type>const Array_&lt; MobilizedBodyIndex &gt; &amp;</type>
      <name>getAllBodies</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtree.html</anchorfile>
      <anchor>a8e71c123056a4bf89412a713cce22a6b</anchor>
      <arglist>() const</arglist>
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      <type>SubtreeBodyIndex</type>
      <name>getParentSubtreeBodyIndex</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtree.html</anchorfile>
      <anchor>aaab7a864183b710ca51e616b11326538</anchor>
      <arglist>(SubtreeBodyIndex) const</arglist>
    </member>
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      <type>const Array_&lt; SubtreeBodyIndex &gt; &amp;</type>
      <name>getChildSubtreeBodyIndices</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtree.html</anchorfile>
      <anchor>ab9955fe87f49ed98882c95f39d7e1925</anchor>
      <arglist>(SubtreeBodyIndex) const</arglist>
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      <type>void</type>
      <name>initializeSubtreeResults</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtree.html</anchorfile>
      <anchor>ad4fbed2ca6a50fd4f2892bd36a68719a</anchor>
      <arglist>(const State &amp;, SimbodyMatterSubtreeResults &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isCompatibleSubtreeResults</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtree.html</anchorfile>
      <anchor>ad7db2b02835a3e8ac531ceb0d47dcb2c</anchor>
      <arglist>(const SimbodyMatterSubtreeResults &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>copyPositionsFromState</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtree.html</anchorfile>
      <anchor>a06b88c25835843b15746957fb6c15917</anchor>
      <arglist>(const State &amp;, SimbodyMatterSubtreeResults &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcPositionsFromSubtreeQ</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtree.html</anchorfile>
      <anchor>a836fb1a67637e3be16353c9ab01622e3</anchor>
      <arglist>(const State &amp;, const Vector &amp;subQ, SimbodyMatterSubtreeResults &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>perturbPositions</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtree.html</anchorfile>
      <anchor>a3de41d436f4f3686c7ac6095d386057b</anchor>
      <arglist>(const State &amp;, SubtreeQIndex subQIndex, Real perturbation, SimbodyMatterSubtreeResults &amp;) const</arglist>
    </member>
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      <type>void</type>
      <name>copyVelocitiesFromState</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtree.html</anchorfile>
      <anchor>ad17e35d5bc1d3e4373e5a4999345f94e</anchor>
      <arglist>(const State &amp;, SimbodyMatterSubtreeResults &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcVelocitiesFromSubtreeU</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtree.html</anchorfile>
      <anchor>a8dc7220219bc94824eb59e511ce7289b</anchor>
      <arglist>(const State &amp;, const Vector &amp;subU, SimbodyMatterSubtreeResults &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcVelocitiesFromZeroU</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtree.html</anchorfile>
      <anchor>ad99a9e89817913d543126ba9335890cd</anchor>
      <arglist>(const State &amp;, SimbodyMatterSubtreeResults &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>perturbVelocities</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtree.html</anchorfile>
      <anchor>a8722959006ca9af5414ed26329ba1267</anchor>
      <arglist>(const State &amp;, SubtreeUIndex subUIndex, Real perturbation, SimbodyMatterSubtreeResults &amp;) const</arglist>
    </member>
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      <type>void</type>
      <name>copyAccelerationsFromState</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtree.html</anchorfile>
      <anchor>af9db1c5ab55665e5cde9bfb17465370c</anchor>
      <arglist>(const State &amp;, SimbodyMatterSubtreeResults &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcAccelerationsFromSubtreeUDot</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtree.html</anchorfile>
      <anchor>a1aaef168af55cbd120dff7e461031886</anchor>
      <arglist>(const State &amp;, const Vector &amp;subUDot, SimbodyMatterSubtreeResults &amp;) const</arglist>
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      <type>void</type>
      <name>calcAccelerationsFromZeroUDot</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtree.html</anchorfile>
      <anchor>ae9823e5923ef28dd59cba268dc9406e8</anchor>
      <arglist>(const State &amp;, SimbodyMatterSubtreeResults &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>perturbAccelerations</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtree.html</anchorfile>
      <anchor>a2310b9dd617a804d16d0da0f5ee49e79</anchor>
      <arglist>(const State &amp;, SubtreeUIndex subUDotIndex, Real perturbation, SimbodyMatterSubtreeResults &amp;) const</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::SimbodyMatterSubtreeResults</name>
    <filename>classSimTK_1_1SimbodyMatterSubtreeResults.html</filename>
    <member kind="function">
      <type></type>
      <name>SimbodyMatterSubtreeResults</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtreeResults.html</anchorfile>
      <anchor>a6f8ea70dc234337b936a724243898a55</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SimbodyMatterSubtreeResults</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtreeResults.html</anchorfile>
      <anchor>acdf0d8a86f81b649709d30227dc23a4f</anchor>
      <arglist>(const SimbodyMatterSubtreeResults &amp;)</arglist>
    </member>
    <member kind="function">
      <type>SimbodyMatterSubtreeResults &amp;</type>
      <name>operator=</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtreeResults.html</anchorfile>
      <anchor>a122cf6113212202cc29df11abc7c9ffc</anchor>
      <arglist>(const SimbodyMatterSubtreeResults &amp;)</arglist>
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    <member kind="function">
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      <arglist>()</arglist>
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      <arglist>(int nBodies)</arglist>
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      <arglist>(SubtreeBodyIndex, QIndex qStart, int nq, UIndex uStart, int nu)</arglist>
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      <arglist>(const Vector &amp;stateQ, const Vector &amp;stateU)</arglist>
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      <arglist>(SubtreeBodyIndex) const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(SubtreeBodyIndex, SubtreeUIndex &amp;uStart, int &amp;nu) const</arglist>
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      <arglist></arglist>
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      <type></type>
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      <arglist>(GeneralForceSubsystem &amp;forces)</arglist>
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      <arglist>(Real stiffness, Real dissipation, Real staticFriction, Real dynamicFriction, Real viscousFriction, Real transitionVelocity, Real cf, Real bd, Real bv)</arglist>
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      <arglist>(Real stiffness)</arglist>
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      <arglist>(Real dissipation)</arglist>
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      <arglist>(Real staticFriction)</arglist>
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      <arglist>(Real dynamicFriction)</arglist>
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      <arglist>(Real viscousFriction)</arglist>
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      <arglist>(Real transitionVelocity)</arglist>
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      <arglist>(Real cf)</arglist>
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      <arglist>(Real bd)</arglist>
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      <arglist>(Real bv)</arglist>
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      <arglist>(MobilizedBody bodyInput1)</arglist>
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      <arglist>(Vec3 locationSphere)</arglist>
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      <arglist>(Real radius)</arglist>
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      <arglist>(MobilizedBody bodyInput2)</arglist>
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      <arglist>(Transform halfSpaceFrame)</arglist>
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      <arglist>(RealP mass)</arglist>
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      <arglist>(const Vec3P &amp;com)</arglist>
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      <arglist>() const</arglist>
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      <arglist>(const SpatialInertia_ &amp;src)</arglist>
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    <member kind="function">
      <type>SpatialInertia_&lt; P &gt;</type>
      <name>operator-</name>
      <anchorfile>classSimTK_1_1SpatialInertia__.html</anchorfile>
      <anchor>a28bcef8b2f22a45c06652f13976e1eec</anchor>
      <arglist>(const SpatialInertia_&lt; P &gt; &amp;l, const SpatialInertia_&lt; P &gt; &amp;r)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::SpherePlaneContact</name>
    <filename>classSimTK_1_1SpherePlaneContact.html</filename>
    <base>SimTK::UnilateralContact</base>
    <member kind="function">
      <type></type>
      <name>SpherePlaneContact</name>
      <anchorfile>classSimTK_1_1SpherePlaneContact.html</anchorfile>
      <anchor>aa85851f9ec33f722070d6edf4cbee0b3</anchor>
      <arglist>(MobilizedBody &amp;planeBodyB, const UnitVec3 &amp;normal_B, Real height, MobilizedBody &amp;followerBodyF, const Vec3 &amp;point_F, Real radius, Real minCOR, Real mu_s, Real mu_d, Real mu_v)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>disable</name>
      <anchorfile>classSimTK_1_1SpherePlaneContact.html</anchorfile>
      <anchor>a427b8d0dfab16b4b0f1c711f80492cb3</anchor>
      <arglist>(State &amp;state) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>enable</name>
      <anchorfile>classSimTK_1_1SpherePlaneContact.html</anchorfile>
      <anchor>a174ee08528886323e32e9d072a633182</anchor>
      <arglist>(State &amp;state) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEnabled</name>
      <anchorfile>classSimTK_1_1SpherePlaneContact.html</anchorfile>
      <anchor>a3fad10f7fdebb64a082fcb66e6b83a8f</anchor>
      <arglist>(const State &amp;state) const override</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>whereToDisplay</name>
      <anchorfile>classSimTK_1_1SpherePlaneContact.html</anchorfile>
      <anchor>a6b959fedffcd5c4475871b0ff9473262</anchor>
      <arglist>(const State &amp;state) const override</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getPerr</name>
      <anchorfile>classSimTK_1_1SpherePlaneContact.html</anchorfile>
      <anchor>a0149f9afc9055bf905fab2a158740745</anchor>
      <arglist>(const State &amp;state) const override</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getVerr</name>
      <anchorfile>classSimTK_1_1SpherePlaneContact.html</anchorfile>
      <anchor>a5227afef79e55682e1e886f9f229f1b8</anchor>
      <arglist>(const State &amp;state) const override</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getAerr</name>
      <anchorfile>classSimTK_1_1SpherePlaneContact.html</anchorfile>
      <anchor>a0ce64aefc99a00952cfb6cb3651dd6af</anchor>
      <arglist>(const State &amp;state) const override</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>calcEffectiveCOR</name>
      <anchorfile>classSimTK_1_1SpherePlaneContact.html</anchorfile>
      <anchor>a2ad7a39ee43b8731c0665fb908e1846a</anchor>
      <arglist>(const State &amp;state, Real defaultCaptureSpeed, Real defaultMinCORSpeed, Real impactSpeed) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>hasFriction</name>
      <anchorfile>classSimTK_1_1SpherePlaneContact.html</anchorfile>
      <anchor>a08e800529dbc98639d4291b46e96515c</anchor>
      <arglist>(const State &amp;state) const override</arglist>
    </member>
    <member kind="function">
      <type>Vec2</type>
      <name>getSlipVelocity</name>
      <anchorfile>classSimTK_1_1SpherePlaneContact.html</anchorfile>
      <anchor>acbeabb58a7788db60685f0f9ff6f5776</anchor>
      <arglist>(const State &amp;state) const override</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>calcEffectiveCOF</name>
      <anchorfile>classSimTK_1_1SpherePlaneContact.html</anchorfile>
      <anchor>a8a6b8f005cb5e4b6f481229da9e3d315</anchor>
      <arglist>(const State &amp;state, Real defaultTransitionSpeed, Real slipSpeed) const override</arglist>
    </member>
    <member kind="function">
      <type>MultiplierIndex</type>
      <name>getContactMultiplierIndex</name>
      <anchorfile>classSimTK_1_1SpherePlaneContact.html</anchorfile>
      <anchor>a1cdb2cb9e84145c5ace89376984bc541</anchor>
      <arglist>(const State &amp;s) const override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getFrictionMultiplierIndices</name>
      <anchorfile>classSimTK_1_1SpherePlaneContact.html</anchorfile>
      <anchor>a47e71da4c316b3cc84c08b6815edfaa7</anchor>
      <arglist>(const State &amp;s, MultiplierIndex &amp;ix_x, MultiplierIndex &amp;ix_y) const override</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::SphereSphereContact</name>
    <filename>classSimTK_1_1SphereSphereContact.html</filename>
    <base>SimTK::UnilateralContact</base>
    <member kind="function">
      <type></type>
      <name>SphereSphereContact</name>
      <anchorfile>classSimTK_1_1SphereSphereContact.html</anchorfile>
      <anchor>ad80108d248103e14ac42e6c71414e43d</anchor>
      <arglist>(MobilizedBody &amp;mobod_F, const Vec3 &amp;defaultCenterOnF, Real defaultRadiusOnF, MobilizedBody &amp;mobod_B, const Vec3 &amp;defaultCenterOnB, Real defaultRadiusOnB, Real minCOR, Real mu_s, Real mu_d, Real mu_v)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>disable</name>
      <anchorfile>classSimTK_1_1SphereSphereContact.html</anchorfile>
      <anchor>a50696fbb7b93837df86f282ce1c561f4</anchor>
      <arglist>(State &amp;state) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>enable</name>
      <anchorfile>classSimTK_1_1SphereSphereContact.html</anchorfile>
      <anchor>ad2c3ccd8d725c26585b82818082bbe51</anchor>
      <arglist>(State &amp;state) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEnabled</name>
      <anchorfile>classSimTK_1_1SphereSphereContact.html</anchorfile>
      <anchor>a850f3c207431b7d625e1c122928e6119</anchor>
      <arglist>(const State &amp;state) const override</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>whereToDisplay</name>
      <anchorfile>classSimTK_1_1SphereSphereContact.html</anchorfile>
      <anchor>ab0c7236271e731196d3a2d2d62721740</anchor>
      <arglist>(const State &amp;state) const override</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getPerr</name>
      <anchorfile>classSimTK_1_1SphereSphereContact.html</anchorfile>
      <anchor>aaf4e58491e1fba3fe1b6a3cd922f1682</anchor>
      <arglist>(const State &amp;state) const override</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getVerr</name>
      <anchorfile>classSimTK_1_1SphereSphereContact.html</anchorfile>
      <anchor>a279292be2a78110d94683acf0430eb84</anchor>
      <arglist>(const State &amp;state) const override</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getAerr</name>
      <anchorfile>classSimTK_1_1SphereSphereContact.html</anchorfile>
      <anchor>ab0a7b8139da2a69881cfe78e418fd0cc</anchor>
      <arglist>(const State &amp;state) const override</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>calcEffectiveCOR</name>
      <anchorfile>classSimTK_1_1SphereSphereContact.html</anchorfile>
      <anchor>a29d86b79612414c4076fbbb8c37e373c</anchor>
      <arglist>(const State &amp;state, Real defaultCaptureSpeed, Real defaultMinCORSpeed, Real impactSpeed) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>hasFriction</name>
      <anchorfile>classSimTK_1_1SphereSphereContact.html</anchorfile>
      <anchor>aa332d61dd5e2dc44fa8618658d144a82</anchor>
      <arglist>(const State &amp;state) const override</arglist>
    </member>
    <member kind="function">
      <type>Vec2</type>
      <name>getSlipVelocity</name>
      <anchorfile>classSimTK_1_1SphereSphereContact.html</anchorfile>
      <anchor>a209d1c8dba8684903a93a1ea8cc71448</anchor>
      <arglist>(const State &amp;state) const override</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>calcEffectiveCOF</name>
      <anchorfile>classSimTK_1_1SphereSphereContact.html</anchorfile>
      <anchor>a42d2d3103863db195bbb5f7603a439e1</anchor>
      <arglist>(const State &amp;state, Real defaultTransitionSpeed, Real slipSpeed) const override</arglist>
    </member>
    <member kind="function">
      <type>MultiplierIndex</type>
      <name>getContactMultiplierIndex</name>
      <anchorfile>classSimTK_1_1SphereSphereContact.html</anchorfile>
      <anchor>ad7015169bcf6b14e9b8ab0c20c3153e9</anchor>
      <arglist>(const State &amp;s) const override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getFrictionMultiplierIndices</name>
      <anchorfile>classSimTK_1_1SphereSphereContact.html</anchorfile>
      <anchor>a21588475903d1ee7e4a408b347bdc87c</anchor>
      <arglist>(const State &amp;s, MultiplierIndex &amp;ix_x, MultiplierIndex &amp;ix_y) const override</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::Spline_</name>
    <filename>classSimTK_1_1Spline__.html</filename>
    <templarg></templarg>
    <base>SimTK::Function_</base>
    <class kind="class">SimTK::Spline_::SplineImpl</class>
    <member kind="function">
      <type></type>
      <name>Spline_</name>
      <anchorfile>classSimTK_1_1Spline__.html</anchorfile>
      <anchor>a657ded3ef15598b3f7cbb13f82fef65b</anchor>
      <arglist>(int degree, const Vector &amp;x, const Vector_&lt; T &gt; &amp;y)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Spline_</name>
      <anchorfile>classSimTK_1_1Spline__.html</anchorfile>
      <anchor>aab8b84e743141f4b0f3baca368c7e6fb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Spline_</name>
      <anchorfile>classSimTK_1_1Spline__.html</anchorfile>
      <anchor>ae3cf443ca7e90f114c6d69cbe76d6f1b</anchor>
      <arglist>(const Spline_ &amp;source)</arglist>
    </member>
    <member kind="function">
      <type>Spline_ &amp;</type>
      <name>operator=</name>
      <anchorfile>classSimTK_1_1Spline__.html</anchorfile>
      <anchor>aab7aa31b31c75059ec1000a7bbd9e5b0</anchor>
      <arglist>(const Spline_ &amp;source)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~Spline_</name>
      <anchorfile>classSimTK_1_1Spline__.html</anchorfile>
      <anchor>a62263cb6b784a98a33a947cdc9c59287</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>T</type>
      <name>calcValue</name>
      <anchorfile>classSimTK_1_1Spline__.html</anchorfile>
      <anchor>a93e0134ae647e79a80664976a6954eeb</anchor>
      <arglist>(Real x) const</arglist>
    </member>
    <member kind="function">
      <type>T</type>
      <name>calcDerivative</name>
      <anchorfile>classSimTK_1_1Spline__.html</anchorfile>
      <anchor>ab077ea372e7adbbc9bf6f5fe98a94170</anchor>
      <arglist>(int order, Real x) const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>getControlPointLocations</name>
      <anchorfile>classSimTK_1_1Spline__.html</anchorfile>
      <anchor>a1b12a4dd0a5a587aee34a808080fbc26</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vector_&lt; T &gt; &amp;</type>
      <name>getControlPointValues</name>
      <anchorfile>classSimTK_1_1Spline__.html</anchorfile>
      <anchor>a305293496376cf64d9f8686905ce4ca6</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getSplineDegree</name>
      <anchorfile>classSimTK_1_1Spline__.html</anchorfile>
      <anchor>a34ec7a9ce4fc23c0e24d9f75599cebdf</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>T</type>
      <name>calcValue</name>
      <anchorfile>classSimTK_1_1Spline__.html</anchorfile>
      <anchor>a41ee6be155dbc4e7bcae71b1aeb30979</anchor>
      <arglist>(const Vector &amp;x) const override</arglist>
    </member>
    <member kind="function">
      <type>T</type>
      <name>calcDerivative</name>
      <anchorfile>classSimTK_1_1Spline__.html</anchorfile>
      <anchor>a9e3bd0ef85d3fcd175acd158b119fdd1</anchor>
      <arglist>(const Array_&lt; int &gt; &amp;derivComponents, const Vector &amp;x) const override</arglist>
    </member>
    <member kind="function">
      <type>T</type>
      <name>calcDerivative</name>
      <anchorfile>classSimTK_1_1Spline__.html</anchorfile>
      <anchor>a68f18b306d5350aae23f29f7c058d6c8</anchor>
      <arglist>(const std::vector&lt; int &gt; &amp;derivComponents, const Vector &amp;x) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getArgumentSize</name>
      <anchorfile>classSimTK_1_1Spline__.html</anchorfile>
      <anchor>a1f2ba81476bfda79d37947a1af89add0</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getMaxDerivativeOrder</name>
      <anchorfile>classSimTK_1_1Spline__.html</anchorfile>
      <anchor>a53756fb9b711aca037da9aaa17fb9385</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>Spline_ *</type>
      <name>clone</name>
      <anchorfile>classSimTK_1_1Spline__.html</anchorfile>
      <anchor>a5402b61296489bc27d4ab96640be0a1d</anchor>
      <arglist>() const override</arglist>
    </member>
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  <compound kind="class">
    <name>SimTK::Spline_::SplineImpl</name>
    <filename>classSimTK_1_1Spline___1_1SplineImpl.html</filename>
    <member kind="function">
      <type></type>
      <name>SplineImpl</name>
      <anchorfile>classSimTK_1_1Spline___1_1SplineImpl.html</anchorfile>
      <anchor>a6bed028afa417fc838c2edc1b30f29ae</anchor>
      <arglist>(int degree, const Vector &amp;x, const Vector_&lt; T &gt; &amp;y)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~SplineImpl</name>
      <anchorfile>classSimTK_1_1Spline___1_1SplineImpl.html</anchorfile>
      <anchor>a2342cb449f4ef3d88dda0681c2e5dc9e</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>T</type>
      <name>getValue</name>
      <anchorfile>classSimTK_1_1Spline___1_1SplineImpl.html</anchorfile>
      <anchor>afb14ac39dcf8796bdbc6725eec6b1f29</anchor>
      <arglist>(Real t) const</arglist>
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    <member kind="function">
      <type>T</type>
      <name>getDerivative</name>
      <anchorfile>classSimTK_1_1Spline___1_1SplineImpl.html</anchorfile>
      <anchor>a9b5852440dca40c7430c7c113ed1a8ba</anchor>
      <arglist>(int derivOrder, Real t) const</arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>referenceCount</name>
      <anchorfile>classSimTK_1_1Spline___1_1SplineImpl.html</anchorfile>
      <anchor>ac599b50817227624092f4f04ca6d9406</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>int</type>
      <name>degree</name>
      <anchorfile>classSimTK_1_1Spline___1_1SplineImpl.html</anchorfile>
      <anchor>a9bd568a313bcc14e506fe8bfc2c25417</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>Vector</type>
      <name>x</name>
      <anchorfile>classSimTK_1_1Spline___1_1SplineImpl.html</anchorfile>
      <anchor>a3293ba27813a58abbaeb7cadaf46e296</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>Vector_&lt; T &gt;</type>
      <name>y</name>
      <anchorfile>classSimTK_1_1Spline___1_1SplineImpl.html</anchorfile>
      <anchor>acf0fc676131fc282eef23a5a622b65bc</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>SimTK::SplineFitter</name>
    <filename>classSimTK_1_1SplineFitter.html</filename>
    <templarg></templarg>
    <class kind="class">SimTK::SplineFitter::SplineFitterImpl</class>
    <member kind="function">
      <type></type>
      <name>SplineFitter</name>
      <anchorfile>classSimTK_1_1SplineFitter.html</anchorfile>
      <anchor>af12c3d7dbe1b179053cf3dc941f8340b</anchor>
      <arglist>(const SplineFitter &amp;copy)</arglist>
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    <member kind="function">
      <type>SplineFitter</type>
      <name>operator=</name>
      <anchorfile>classSimTK_1_1SplineFitter.html</anchorfile>
      <anchor>ab5b7593f4791a5c749e9449cfcee95e1</anchor>
      <arglist>(const SplineFitter &amp;copy)</arglist>
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    <member kind="function">
      <type></type>
      <name>~SplineFitter</name>
      <anchorfile>classSimTK_1_1SplineFitter.html</anchorfile>
      <anchor>acae6e70ead5b6927a881e4e968b70639</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>const Spline_&lt; T &gt; &amp;</type>
      <name>getSpline</name>
      <anchorfile>classSimTK_1_1SplineFitter.html</anchorfile>
      <anchor>a6f76fa735839d141c3d64c038bebac71</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getSmoothingParameter</name>
      <anchorfile>classSimTK_1_1SplineFitter.html</anchorfile>
      <anchor>af2efff5af009b09b5081afa68f67cbeb</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getMeanSquaredError</name>
      <anchorfile>classSimTK_1_1SplineFitter.html</anchorfile>
      <anchor>a3e382f95a4f1f650ef2b8a9dea042287</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getDegreesOfFreedom</name>
      <anchorfile>classSimTK_1_1SplineFitter.html</anchorfile>
      <anchor>a92e1df1799edbf758b13220775ad5211</anchor>
      <arglist>()</arglist>
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    <member kind="function" static="yes">
      <type>static SplineFitter</type>
      <name>fitFromGCV</name>
      <anchorfile>classSimTK_1_1SplineFitter.html</anchorfile>
      <anchor>a14c0f8b54a264ababcf21ca3015fee9d</anchor>
      <arglist>(int degree, const Vector &amp;x, const Vector_&lt; T &gt; &amp;y)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static SplineFitter</type>
      <name>fitFromErrorVariance</name>
      <anchorfile>classSimTK_1_1SplineFitter.html</anchorfile>
      <anchor>adac4738f9d896310766b5291a4e94328</anchor>
      <arglist>(int degree, const Vector &amp;x, const Vector_&lt; T &gt; &amp;y, Real error)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static SplineFitter</type>
      <name>fitFromDOF</name>
      <anchorfile>classSimTK_1_1SplineFitter.html</anchorfile>
      <anchor>a00a753f947c7df61dd25ec1988563b7d</anchor>
      <arglist>(int degree, const Vector &amp;x, const Vector_&lt; T &gt; &amp;y, Real dof)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static SplineFitter</type>
      <name>fitForSmoothingParameter</name>
      <anchorfile>classSimTK_1_1SplineFitter.html</anchorfile>
      <anchor>ab24a85edd03f3359c0138ae9fb27455a</anchor>
      <arglist>(int degree, const Vector &amp;x, const Vector_&lt; T &gt; &amp;y, Real p)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::SplineFitter::SplineFitterImpl</name>
    <filename>classSimTK_1_1SplineFitter_1_1SplineFitterImpl.html</filename>
    <member kind="function">
      <type></type>
      <name>SplineFitterImpl</name>
      <anchorfile>classSimTK_1_1SplineFitter_1_1SplineFitterImpl.html</anchorfile>
      <anchor>aecc378e0da61e67b20e0c16952423cf7</anchor>
      <arglist>(int degree, const Spline_&lt; T &gt; &amp;spline, Real p, Real error, Real dof)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~SplineFitterImpl</name>
      <anchorfile>classSimTK_1_1SplineFitter_1_1SplineFitterImpl.html</anchorfile>
      <anchor>aacd2ebb44aa572be684e3a31ef8c3532</anchor>
      <arglist>()</arglist>
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    <member kind="variable">
      <type>int</type>
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      <arglist>(System &amp;sys, SubsystemIndex id)</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <name>clone</name>
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      <arglist>() const</arglist>
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      <arglist>(State &amp;) const</arglist>
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      <arglist>(State &amp;) const</arglist>
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      <arglist>(const State &amp;) const</arglist>
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      <arglist>(const State &amp;) const</arglist>
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      <arglist>(const State &amp;) const</arglist>
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      <arglist>(const State &amp;) const</arglist>
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      <arglist>(const State &amp;) const</arglist>
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      <arglist>(const State &amp;) const</arglist>
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      <arglist>(const State &amp;) const</arglist>
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      <arglist>(const State &amp;, Stage, Array_&lt; DecorativeGeometry &gt; &amp;) const</arglist>
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      <arglist>(const State &amp;state, EventId &amp;eventId) const</arglist>
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      <arglist>(const State &amp;state, EventId &amp;eventId, EventTriggerByStageIndex &amp;triggerFunctionIndex, Stage stage) const</arglist>
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      <arglist>(const State &amp;, Array_&lt; EventTriggerInfo &gt; &amp;) const</arglist>
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      <arglist>(const State &amp;, Real &amp;tNextEvent, Array_&lt; EventId &gt; &amp;eventIds, bool includeCurrentTime) const</arglist>
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      <arglist>(const State &amp;, Real &amp;tNextEvent, Array_&lt; EventId &gt; &amp;eventIds, bool includeCurrentTime) const</arglist>
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      <arglist>(State &amp;, Event::Cause, const Array_&lt; EventId &gt; &amp;eventIds, const HandleEventsOptions &amp;options, HandleEventsResults &amp;results) const</arglist>
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      <arglist>() const</arglist>
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      <arglist>()</arglist>
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      <arglist>(Subsystem &amp;subsys)</arglist>
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      <arglist>() const</arglist>
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      <arglist>(State &amp;s, const Vector &amp;qInit) const</arglist>
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      <arglist>(State &amp;s, const Vector &amp;zInit) const</arglist>
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      <arglist>(State &amp;s, Stage g, AbstractValue *v) const</arglist>
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      <arglist>(const State &amp;s, int nqerr) const</arglist>
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      <arglist>(const State &amp;s, Stage g, int ntriggers) const</arglist>
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      <arglist>(const State &amp;s) const</arglist>
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      <arglist>(const State &amp;s) const</arglist>
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      <arglist>(const State &amp;s) const</arglist>
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      <arglist>(const State &amp;s) const</arglist>
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      <arglist>(const State &amp;s) const</arglist>
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      <arglist>(State &amp;s) const</arglist>
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      <arglist>(State &amp;s) const</arglist>
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      <arglist>(State &amp;s) const</arglist>
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      <arglist>(const State &amp;s) const</arglist>
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      <arglist>(const State &amp;s) const</arglist>
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      <arglist>(const State &amp;s) const</arglist>
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      <arglist>(const State &amp;s) const</arglist>
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      <arglist>(const State &amp;s) const</arglist>
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      <arglist>(const State &amp;s) const</arglist>
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      <arglist>(const State &amp;s, Stage g) const</arglist>
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      <arglist>(const State &amp;s) const</arglist>
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      <arglist>(const State &amp;s) const</arglist>
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      <arglist>(const State &amp;s) const</arglist>
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      <arglist>(const State &amp;s, Stage g) const</arglist>
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      <arglist>(const State &amp;s) const</arglist>
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      <arglist>(const State &amp;s) const</arglist>
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      <arglist>(const State &amp;s) const</arglist>
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      <name>getNU</name>
      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
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      <arglist>(const State &amp;s) const</arglist>
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      <arglist>(const State &amp;s) const</arglist>
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      <name>getQErrStart</name>
      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
      <anchor>a49339a42bd297ae104810749d651a3f6</anchor>
      <arglist>(const State &amp;s) const</arglist>
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      <type>int</type>
      <name>getNQErr</name>
      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
      <anchor>a322bcefd39c2cf8ae7bc17b0c44d7b37</anchor>
      <arglist>(const State &amp;s) const</arglist>
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      <name>getUErrStart</name>
      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
      <anchor>a4bbb4e3a2f74ff2bb30390fc1f0a926a</anchor>
      <arglist>(const State &amp;s) const</arglist>
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      <type>int</type>
      <name>getNUErr</name>
      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
      <anchor>a7d351060d2023da8424d587f0ab66a12</anchor>
      <arglist>(const State &amp;s) const</arglist>
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      <name>getUDotErrStart</name>
      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
      <anchor>a65262adf9e0694b3a8d649942e9de224</anchor>
      <arglist>(const State &amp;s) const</arglist>
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      <type>int</type>
      <name>getNUDotErr</name>
      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
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      <arglist>(const State &amp;s) const</arglist>
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      <name>getMultipliersStart</name>
      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
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      <arglist>(const State &amp;s) const</arglist>
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      <type>int</type>
      <name>getNMultipliers</name>
      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
      <anchor>ae23fa7e3ae01d1328effb3fd85ddd5de</anchor>
      <arglist>(const State &amp;s) const</arglist>
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      <name>getEventTriggerStartByStage</name>
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      <arglist>(const State &amp;s, Stage g) const</arglist>
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      <type>int</type>
      <name>getNEventTriggersByStage</name>
      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
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      <arglist>(const State &amp;s, Stage g) const</arglist>
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      <type>void</type>
      <name>setQ</name>
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      <anchor>a55d909b9839a760228716b4a10e2b796</anchor>
      <arglist>(State &amp;s, const Vector &amp;q) const</arglist>
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      <name>setU</name>
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      <arglist>(State &amp;s, const Vector &amp;u) const</arglist>
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      <name>setZ</name>
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      <anchor>a9eb3890212a98ed13cee7c774098cbd0</anchor>
      <arglist>(State &amp;s, const Vector &amp;z) const</arglist>
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      <type>Stage</type>
      <name>getStage</name>
      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
      <anchor>ab2e6d6c742b7e0c8b93682dc150a461b</anchor>
      <arglist>(const State &amp;s) const</arglist>
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      <type>void</type>
      <name>advanceToStage</name>
      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
      <anchor>a0594bcba61b482c6d16f49d9c0526d84</anchor>
      <arglist>(const State &amp;s, Stage g) const</arglist>
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      <type>const AbstractValue &amp;</type>
      <name>getDiscreteVariable</name>
      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
      <anchor>a62f8ce36ce32afd91164d9c9538aebab</anchor>
      <arglist>(const State &amp;s, DiscreteVariableIndex index) const</arglist>
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      <type>AbstractValue &amp;</type>
      <name>updDiscreteVariable</name>
      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
      <anchor>ab745a0b3fe17226e6f48b9d90f194d4c</anchor>
      <arglist>(State &amp;s, DiscreteVariableIndex index) const</arglist>
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      <type>const AbstractValue &amp;</type>
      <name>getCacheEntry</name>
      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
      <anchor>a17f21af049bb602afdeab793d04fec38</anchor>
      <arglist>(const State &amp;s, CacheEntryIndex index) const</arglist>
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      <name>updCacheEntry</name>
      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
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      <arglist>(const State &amp;s, CacheEntryIndex index) const</arglist>
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      <type>Real</type>
      <name>getDiscreteVarLastUpdateTime</name>
      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
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      <arglist>(const State &amp;s, DiscreteVariableIndex dx) const</arglist>
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      <type>CacheEntryIndex</type>
      <name>getDiscreteVarUpdateIndex</name>
      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
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      <arglist>(const State &amp;s, DiscreteVariableIndex dx) const</arglist>
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      <type>const AbstractValue &amp;</type>
      <name>getDiscreteVarUpdateValue</name>
      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
      <anchor>a4b4cab0fb89fda614c445cdcd3d8cfa7</anchor>
      <arglist>(const State &amp;s, DiscreteVariableIndex dx) const</arglist>
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      <type>AbstractValue &amp;</type>
      <name>updDiscreteVarUpdateValue</name>
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      <arglist>(const State &amp;s, DiscreteVariableIndex dx) const</arglist>
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      <type>bool</type>
      <name>isDiscreteVarUpdateValueRealized</name>
      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
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      <arglist>(const State &amp;s, DiscreteVariableIndex dx) const</arglist>
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      <type>void</type>
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      <arglist>(const State &amp;s, DiscreteVariableIndex dx) const</arglist>
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      <type>bool</type>
      <name>isCacheValueRealized</name>
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      <anchor>a41a61c6f04ebd0027e2b5e033b357875</anchor>
      <arglist>(const State &amp;s, CacheEntryIndex cx) const</arglist>
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      <type>void</type>
      <name>markCacheValueRealized</name>
      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
      <anchor>a1e24f949cf32a6871e972ab359dc8b6c</anchor>
      <arglist>(const State &amp;s, CacheEntryIndex cx) const</arglist>
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      <type>void</type>
      <name>markCacheValueNotRealized</name>
      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
      <anchor>add9969c48426025e6fcf13470207e1ad</anchor>
      <arglist>(const State &amp;s, CacheEntryIndex cx) const</arglist>
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      <type>virtual Subsystem::Guts *</type>
      <name>cloneImpl</name>
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      <arglist>() const =0</arglist>
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      <type>virtual int</type>
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      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
      <anchor>a0e2597fe36e0314c0ed33b37053d6b1f</anchor>
      <arglist>(State &amp;s) const</arglist>
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      <type>virtual int</type>
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      <arglist>(State &amp;s) const</arglist>
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      <type>virtual int</type>
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      <arglist>(const State &amp;s) const</arglist>
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      <type>virtual int</type>
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      <arglist>(const State &amp;s) const</arglist>
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      <type>virtual int</type>
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      <anchor>a8b791c92fc210dd7f08e4d7e2ed0347a</anchor>
      <arglist>(const State &amp;s) const</arglist>
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      <type>virtual int</type>
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      <anchor>ad9d1ac063368e888c1bbf0f4b7c9619a</anchor>
      <arglist>(const State &amp;s) const</arglist>
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      <type>virtual int</type>
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      <anchor>aad5205aba9ad0f2b44e2b943dae61318</anchor>
      <arglist>(const State &amp;s) const</arglist>
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      <type>virtual int</type>
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      <arglist>(const State &amp;s) const</arglist>
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      <type>virtual int</type>
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      <anchor>aa420df23ab773e455f911c69acceaf99</anchor>
      <arglist>(const State &amp;s) const</arglist>
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      <type>virtual int</type>
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      <arglist>(const State &amp;, Stage, Array_&lt; DecorativeGeometry &gt; &amp;) const</arglist>
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      <type>virtual void</type>
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      <arglist>(const State &amp;, Array_&lt; EventTriggerInfo &gt; &amp;) const</arglist>
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      <arglist>(const State &amp;, Real &amp;tNextEvent, Array_&lt; EventId &gt; &amp;eventIds, bool includeCurrentTime) const</arglist>
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      <type>virtual void</type>
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      <arglist>(const State &amp;, Real &amp;tNextEvent, Array_&lt; EventId &gt; &amp;eventIds, bool includeCurrentTime) const</arglist>
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      <arglist>(State &amp;, Event::Cause, const Array_&lt; EventId &gt; &amp;eventIds, const HandleEventsOptions &amp;options, HandleEventsResults &amp;results) const</arglist>
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      <arglist>(const State &amp;, Event::Cause, const Array_&lt; EventId &gt; &amp;eventIds) const</arglist>
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      <type>friend class</type>
      <name>Subsystem</name>
      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
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      <arglist></arglist>
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      <type>QIndex</type>
      <name>allocateQ</name>
      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
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      <arglist>(State &amp;s, const Vector &amp;qInit) const</arglist>
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      <arglist>(State &amp;s, const Vector &amp;uInit) const</arglist>
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      <arglist>(State &amp;s, const Vector &amp;zInit) const</arglist>
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      <arglist>(State &amp;s, Stage g, AbstractValue *v) const</arglist>
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      <arglist>(State &amp;s, Stage invalidates, AbstractValue *v, Stage updateDependsOn) const</arglist>
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      <arglist>(const State &amp;s, Stage dependsOn, Stage computedBy, AbstractValue *v) const</arglist>
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      <type>CacheEntryIndex</type>
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      <arglist>(const State &amp;state, Stage g, AbstractValue *v) const</arglist>
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      <type>CacheEntryIndex</type>
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      <arglist>(const State &amp;state, Stage earliest, AbstractValue *v) const</arglist>
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      <type>QErrIndex</type>
      <name>allocateQErr</name>
      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
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      <arglist>(const State &amp;s, int nqerr) const</arglist>
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      <type>UErrIndex</type>
      <name>allocateUErr</name>
      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
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      <arglist>(const State &amp;s, int nuerr) const</arglist>
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      <type>UDotErrIndex</type>
      <name>allocateUDotErr</name>
      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
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      <arglist>(const State &amp;s, int nudoterr) const</arglist>
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      <type>EventTriggerByStageIndex</type>
      <name>allocateEventTriggersByStage</name>
      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
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      <arglist>(const State &amp;s, Stage g, int ntriggers) const</arglist>
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      <type>const Vector &amp;</type>
      <name>getQ</name>
      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
      <anchor>aa04593a51760fd2389a98f15c4cf1a4b</anchor>
      <arglist>(const State &amp;s) const</arglist>
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      <type>const Vector &amp;</type>
      <name>getU</name>
      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
      <anchor>a9dbccf0d9e4fcab1a975786118275118</anchor>
      <arglist>(const State &amp;s) const</arglist>
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    <member kind="function">
      <type>const Vector &amp;</type>
      <name>getZ</name>
      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
      <anchor>afa9bd25f6613538646d893807bff3d37</anchor>
      <arglist>(const State &amp;s) const</arglist>
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      <type>const Vector &amp;</type>
      <name>getUWeights</name>
      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
      <anchor>a587f20d2f23a60ce8bb25b5dca5630ab</anchor>
      <arglist>(const State &amp;s) const</arglist>
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      <type>const Vector &amp;</type>
      <name>getZWeights</name>
      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
      <anchor>a33b32a3509d67f0e0e4f061f8b11422b</anchor>
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      <arglist>()</arglist>
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      <arglist>(const State &amp;state, Stage stage=Stage::HighestRuntime) const</arglist>
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      <arglist>(State &amp;state, Real accuracy=-1) const</arglist>
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      <arglist>(State &amp;state, Real accuracy=-1) const</arglist>
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      <arglist>(State &amp;state, Real accuracy=-1) const</arglist>
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      <arglist>(State &amp;state, Vector &amp;qErrEst, const ProjectOptions &amp;options, ProjectResults &amp;results) const</arglist>
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      <arglist>(State &amp;state, Vector &amp;uErrEst, const ProjectOptions &amp;options, ProjectResults &amp;results) const</arglist>
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      <arglist>(State &amp;state) const</arglist>
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      <arglist>(State &amp;state) const</arglist>
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      <arglist>(State &amp;state) const</arglist>
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      <arglist>(const State &amp;state, Array_&lt; SystemQIndex &gt; &amp;freeQs) const</arglist>
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      <arglist>(const State &amp;state, Array_&lt; SystemUIndex &gt; &amp;freeUs) const</arglist>
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      <arglist>(State &amp;state, Event::Cause cause, const Array_&lt; EventId &gt; &amp;eventIds, const HandleEventsOptions &amp;options, HandleEventsResults &amp;results) const</arglist>
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      <arglist>(const State &amp;state, Event::Cause cause, const Array_&lt; EventId &gt; &amp;eventIds) const</arglist>
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      <arglist>(const State &amp;state, Array_&lt; EventTriggerInfo &gt; &amp;triggerInfo) const</arglist>
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      <arglist>(const State &amp;state, Real &amp;tNextEvent, Array_&lt; EventId &gt; &amp;eventIds, bool includeCurrentTime) const</arglist>
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      <arglist>(const State &amp;state, Real &amp;tNextEvent, Array_&lt; EventId &gt; &amp;eventIds, bool includeCurrentTime) const</arglist>
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      <arglist>(State &amp;state, Stage stage, Real accuracy=-1) const</arglist>
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      <arglist>(const State &amp;state, const Vector &amp;u, Vector &amp;dq) const</arglist>
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      <arglist>(const State &amp;state, const Vector &amp;fq, Vector &amp;fu) const</arglist>
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      <arglist>(const State &amp;state, const Vector &amp;dq, Vector &amp;u) const</arglist>
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      <arglist>(const State &amp;state, const Vector &amp;fu, Vector &amp;fq) const</arglist>
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      <arglist>()</arglist>
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      <arglist>(Stage) const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(Stage) const</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 System &amp;)</arglist>
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      <arglist>()</arglist>
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      <arglist>(Subsystem &amp;child)</arglist>
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      <arglist>(SubsystemIndex)</arglist>
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      <arglist>()</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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      <arglist>()</arglist>
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      <arglist>(System::Guts *g)</arglist>
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      <arglist>(System::Guts *g)</arglist>
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      <arglist>() const</arglist>
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      <arglist></arglist>
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      <arglist>(const CoordinateDirection &amp;up)</arglist>
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      <arglist>(Real tc)</arglist>
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      <arglist>(Real lc)</arglist>
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      <arglist>(bool)</arglist>
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      <arglist>() const</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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      <type>const String &amp;</type>
      <name>getName</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>const String &amp;</type>
      <name>getVersion</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>void</type>
      <name>setHasTimeAdvancedEvents</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
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      <arglist>(bool hasEm)</arglist>
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      <arglist>() const</arglist>
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      <type>const State &amp;</type>
      <name>getDefaultState</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>State &amp;</type>
      <name>updDefaultState</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
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      <arglist>()</arglist>
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      <type>void</type>
      <name>realize</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
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      <arglist>(const State &amp;s, Stage g=Stage::HighestRuntime) const</arglist>
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    <member kind="function">
      <type>SubsystemIndex</type>
      <name>adoptSubsystem</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>ac61bd66886e84cfe8ffd35f1a7238cbd</anchor>
      <arglist>(Subsystem &amp;child)</arglist>
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      <type>int</type>
      <name>getNumSubsystems</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
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      <arglist>() const</arglist>
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      <arglist>(SubsystemIndex) const</arglist>
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      <type>Subsystem &amp;</type>
      <name>updSubsystem</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
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      <arglist>(SubsystemIndex)</arglist>
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      <type>const System &amp;</type>
      <name>getSystem</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>System &amp;</type>
      <name>updSystem</name>
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      <arglist>()</arglist>
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      <type>void</type>
      <name>setOwnerHandle</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
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      <arglist>(System &amp;)</arglist>
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      <type>bool</type>
      <name>hasOwnerHandle</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
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      <arglist>() const</arglist>
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      <type></type>
      <name>Guts</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
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      <arglist>(class GutsRep *r)</arglist>
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      <type>bool</type>
      <name>hasRep</name>
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      <arglist>() const</arglist>
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      <type>const GutsRep &amp;</type>
      <name>getRep</name>
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      <arglist>() const</arglist>
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      <type>GutsRep &amp;</type>
      <name>updRep</name>
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      <arglist>() const</arglist>
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      <type>bool</type>
      <name>systemTopologyHasBeenRealized</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>StageVersion</type>
      <name>getSystemTopologyCacheVersion</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>void</type>
      <name>setSystemTopologyCacheVersion</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
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      <arglist>(StageVersion topoVersion) const</arglist>
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      <type>void</type>
      <name>invalidateSystemTopologyCache</name>
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      <anchor>a94aa905b9df5fedb466a6c08ecaff92d</anchor>
      <arglist>() const</arglist>
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      <type>System::Guts *</type>
      <name>clone</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>a7ff568d1a1cfee02dda1334479bf9806</anchor>
      <arglist>() const</arglist>
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      <type>const State &amp;</type>
      <name>realizeTopology</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>aa6c38f912e1179255ac498e3bfd3ec71</anchor>
      <arglist>() const</arglist>
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      <type>void</type>
      <name>realizeModel</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>a7d75ee9e887bd4d40edc9bcc199b64dc</anchor>
      <arglist>(State &amp;) const</arglist>
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      <type>void</type>
      <name>realizeInstance</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>ae2563d7c9065826df034f9488ac57711</anchor>
      <arglist>(const State &amp;s) const</arglist>
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      <type>void</type>
      <name>realizeTime</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>ae93801d8be52790ce97104dfb215f2e4</anchor>
      <arglist>(const State &amp;s) const</arglist>
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      <type>void</type>
      <name>realizePosition</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>a40b8c801294a78b2b8af1de087bfd63c</anchor>
      <arglist>(const State &amp;s) const</arglist>
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      <type>void</type>
      <name>realizeVelocity</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>a255ec120ea446765e127a773080c06bf</anchor>
      <arglist>(const State &amp;s) const</arglist>
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      <type>void</type>
      <name>realizeDynamics</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>a4d3c197f25dd36442c3ccfda5fc3dfdd</anchor>
      <arglist>(const State &amp;s) const</arglist>
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      <type>void</type>
      <name>realizeAcceleration</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>a65d580ce5262a5e8845c228026affdac</anchor>
      <arglist>(const State &amp;s) const</arglist>
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      <type>void</type>
      <name>realizeReport</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>ac870b6001280d2ca49383d1c77515e93</anchor>
      <arglist>(const State &amp;s) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>multiplyByN</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>a6f228f18b8c4dec8312e8cb6a4dd05cc</anchor>
      <arglist>(const State &amp;state, const Vector &amp;u, Vector &amp;dq) const</arglist>
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      <type>void</type>
      <name>multiplyByNTranspose</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>a8482ea9e094fff111c0dd28e3163512b</anchor>
      <arglist>(const State &amp;state, const Vector &amp;fq, Vector &amp;fu) const</arglist>
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      <type>void</type>
      <name>multiplyByNPInv</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>a52f9014b295e686a7e00cc57e2257903</anchor>
      <arglist>(const State &amp;state, const Vector &amp;dq, Vector &amp;u) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>multiplyByNPInvTranspose</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>a1ccade9a20988ad71df30f16505b6dd7</anchor>
      <arglist>(const State &amp;state, const Vector &amp;fu, Vector &amp;fq) const</arglist>
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      <type>bool</type>
      <name>prescribeQ</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>ae989eed34bca586ee6921a4ba85d0c27</anchor>
      <arglist>(State &amp;) const</arglist>
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      <type>bool</type>
      <name>prescribeU</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>ab7f4c769d0f1e08c44d3681e21f572f3</anchor>
      <arglist>(State &amp;) const</arglist>
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      <type>void</type>
      <name>getFreeQIndex</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
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      <arglist>(const State &amp;, Array_&lt; SystemQIndex &gt; &amp;freeQs) const</arglist>
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      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
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      <arglist>(const State &amp;, Array_&lt; SystemUIndex &gt; &amp;freeUs) const</arglist>
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      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>a5d34275bc62ed795bd44f47b6a1caa31</anchor>
      <arglist>(State &amp;, Vector &amp;qErrEst, const ProjectOptions &amp;options, ProjectResults &amp;results) const</arglist>
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      <name>projectU</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>a23ffadb282d856b15ffbb289d1465560</anchor>
      <arglist>(State &amp;, Vector &amp;uErrEst, const ProjectOptions &amp;options, ProjectResults &amp;results) const</arglist>
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      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>af0018f784a7ca5b4e75f616b9ea00b40</anchor>
      <arglist>(State &amp;, Event::Cause, const Array_&lt; EventId &gt; &amp;eventIds, const HandleEventsOptions &amp;options, HandleEventsResults &amp;results) const</arglist>
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      <type>void</type>
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      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
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      <arglist>(const State &amp;, Event::Cause, const Array_&lt; EventId &gt; &amp;eventIds) const</arglist>
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      <type>void</type>
      <name>calcEventTriggerInfo</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>af2144ff437cdb9e5475564600752353f</anchor>
      <arglist>(const State &amp;, Array_&lt; EventTriggerInfo &gt; &amp;) const</arglist>
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      <type>void</type>
      <name>calcTimeOfNextScheduledEvent</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>a88b84cc48cd6ded0f7d7afd67632f6f3</anchor>
      <arglist>(const State &amp;, Real &amp;tNextEvent, Array_&lt; EventId &gt; &amp;eventIds, bool includeCurrentTime) const</arglist>
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      <type>void</type>
      <name>calcTimeOfNextScheduledReport</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>a6c5ce47a34e72ba7cfc794062661a75f</anchor>
      <arglist>(const State &amp;, Real &amp;tNextEvent, Array_&lt; EventId &gt; &amp;eventIds, bool includeCurrentTime) const</arglist>
    </member>
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      <type>void</type>
      <name>calcDecorativeGeometryAndAppend</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>a20fc12c035a89367e664b7231f27ff44</anchor>
      <arglist>(const State &amp;, Stage, Array_&lt; DecorativeGeometry &gt; &amp;) const</arglist>
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      <type></type>
      <name>Guts</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
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      <arglist>(const Guts &amp;)</arglist>
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      <type>virtual System::Guts *</type>
      <name>cloneImpl</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>a06353b3cd3096f6b53046da650573189</anchor>
      <arglist>() const =0</arglist>
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      <type>virtual int</type>
      <name>realizeTopologyImpl</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
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      <arglist>(State &amp;state) const</arglist>
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      <type>virtual int</type>
      <name>realizeModelImpl</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>a6fd19a383d4a86abcc1e727404ed6a4a</anchor>
      <arglist>(State &amp;state) const</arglist>
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      <type>virtual int</type>
      <name>realizeInstanceImpl</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>a33b823a333047c8662ad1d1051977f61</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>virtual int</type>
      <name>realizeTimeImpl</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>a83fd270c57a7a021546559b1b8b4b493</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>virtual int</type>
      <name>realizePositionImpl</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>a9a57f9d103ebbc04292e2cdeb224e5d9</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>virtual int</type>
      <name>realizeVelocityImpl</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>ac50b1f211314c4345c001787ad6a56e7</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
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      <type>virtual int</type>
      <name>realizeDynamicsImpl</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>a8f4302195c0da3a26a3196e40cbced78</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
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      <type>virtual int</type>
      <name>realizeAccelerationImpl</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>a80e6c724935907a62fd0f48d0673eef8</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>virtual int</type>
      <name>realizeReportImpl</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>ad05dcc4723aa23b5352137e363bc0223</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>multiplyByNImpl</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>a49cc67bde07921deda85676638ee9a09</anchor>
      <arglist>(const State &amp;state, const Vector &amp;u, Vector &amp;dq) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>multiplyByNTransposeImpl</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>a076e730ede209bebc67b8afb62f2b0c9</anchor>
      <arglist>(const State &amp;state, const Vector &amp;fq, Vector &amp;fu) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>multiplyByNPInvImpl</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>a06b56f945bea56183693e08d1fdd88ef</anchor>
      <arglist>(const State &amp;state, const Vector &amp;dq, Vector &amp;u) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>multiplyByNPInvTransposeImpl</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>a30045f7b215edfdede8b08a00d0cd10d</anchor>
      <arglist>(const State &amp;state, const Vector &amp;fu, Vector &amp;fq) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
      <name>prescribeQImpl</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>a04c61b84e4b987a1841b56419bc93bb4</anchor>
      <arglist>(State &amp;) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
      <name>prescribeUImpl</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>a9ba113d03cdb72a5b9a331463b42f6db</anchor>
      <arglist>(State &amp;) const</arglist>
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      <type>virtual void</type>
      <name>projectQImpl</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
      <anchor>ab2f9bc107c414ee4e8af7f361f81db29</anchor>
      <arglist>(State &amp;state, Vector &amp;qErrEst, const ProjectOptions &amp;options, ProjectResults &amp;results) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>projectUImpl</name>
      <anchorfile>classSimTK_1_1System_1_1Guts.html</anchorfile>
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      <arglist>(const State &amp;state, Real ptol) const</arglist>
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      <arglist>(const State &amp;state) const =0</arglist>
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      <arglist>(const State &amp;state) const</arglist>
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      <arglist>(const State &amp;state, Real defaultTransitionSpeed, Real slipSpeed) const</arglist>
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      <arglist>(const State &amp;state) const</arglist>
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      <arglist>(State &amp;state, const Vec3 &amp;pos) const</arglist>
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      <arglist>(UnilateralContactIndex cx)</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(int i) const</arglist>
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      <arglist>(int i) const</arglist>
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      <arglist>(DecorationGenerator *generator)</arglist>
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      <arglist>() const</arglist>
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      <arglist>(int i) const</arglist>
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      <arglist>(int i)</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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      <arglist>() const</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>(BackgroundType background)</arglist>
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      <arglist>(const CoordinateDirection &amp;upDirection)</arglist>
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      <arglist>() const</arglist>
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      <arglist>(Real height)</arglist>
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      <arglist>() const</arglist>
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      <arglist>(Mode mode)</arglist>
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      <arglist>(Real framesPerSec)</arglist>
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      <arglist>() const</arglist>
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      <arglist>(Real simTimePerRealSecond)</arglist>
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      <arglist>() const</arglist>
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      <arglist>(Real bufferLengthInSec)</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(InputListener *listener)</arglist>
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      <arglist>() const</arglist>
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      <arglist>(int i)</arglist>
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      <arglist>() const</arglist>
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      <arglist>(int i) const</arglist>
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      <arglist>(MobilizedBodyIndex mobodIx, const Transform &amp;X_BD, const DecorativeGeometry &amp;geometry)</arglist>
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      <arglist>(int i) const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(int i) const</arglist>
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      <arglist>(DecorationGenerator *generator)</arglist>
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      <arglist>() const</arglist>
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      <arglist>(int i) const</arglist>
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      <arglist>(int i)</arglist>
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      <arglist>(const Transform &amp;X_GC) const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(const Vec3 &amp;point, const Vec3 &amp;upDirection) const</arglist>
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      <arglist>(Real fov) const</arglist>
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      <arglist>(Real nearPlane, Real farPlane) const</arglist>
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