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    <filename>classSimTK_1_1Assembler.html</filename>
    <base>SimTK::Study</base>
    <member kind="function">
      <type></type>
      <name>SimTK_DEFINE_UNIQUE_LOCAL_INDEX_TYPE</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>af2cba277fcd0d70b05eacdf0af047c5e</anchor>
      <arglist>(Assembler, FreeQIndex)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Assembler</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a420a4b6c924cef95af35335a27180f2b</anchor>
      <arglist>(const MultibodySystem &amp;system)</arglist>
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    <member kind="function">
      <type>Assembler &amp;</type>
      <name>setErrorTolerance</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a8a16fafd069377fdbf3e023a5c162bc3</anchor>
      <arglist>(Real tolerance=0)</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getErrorToleranceInUse</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>ac9430720fe5eb1e9e384cd4945679198</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Assembler &amp;</type>
      <name>setAccuracy</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a3bf4031d59982c8b35cdf3e61eee624f</anchor>
      <arglist>(Real accuracy=0)</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getAccuracyInUse</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a4e89ba538fa4cf802a5e0753a1df3b44</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Assembler &amp;</type>
      <name>setSystemConstraintsWeight</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a042163263718878530b553c5de99ab05</anchor>
      <arglist>(Real weight)</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getSystemConstraintsWeight</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>af8bd31128af0688f8b9f284b3095f1f7</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>Assembler &amp;</type>
      <name>setAssemblyConditionWeight</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a1c19cc5e034c671f317c74c0db55f7a4</anchor>
      <arglist>(AssemblyConditionIndex condition, Real weight)</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getAssemblyConditionWeight</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a37299c0f20996946aa7acc9a3f36c99a</anchor>
      <arglist>(AssemblyConditionIndex condition) const</arglist>
    </member>
    <member kind="function">
      <type>AssemblyConditionIndex</type>
      <name>adoptAssemblyError</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a74825cbcbd820c905f04adb068bca90e</anchor>
      <arglist>(AssemblyCondition *p)</arglist>
    </member>
    <member kind="function">
      <type>AssemblyConditionIndex</type>
      <name>adoptAssemblyGoal</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a1d83ab5b8f7a696c838540f46b3fda46</anchor>
      <arglist>(AssemblyCondition *p, Real weight=1)</arglist>
    </member>
    <member kind="function">
      <type>Assembler &amp;</type>
      <name>setInternalState</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a7f412259b2b6dea6cb2472184ba8d3de</anchor>
      <arglist>(const State &amp;state)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>initialize</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>ae482c2b03b2ae32c52f7971e198c1cc5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>initialize</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a0f9ae6fbe8ba8f6a1011499a8af8b5ac</anchor>
      <arglist>(const State &amp;state)</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>assemble</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>abf11e6813b2f8e8de97f3825817df601</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>track</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>afa718e809d48c514de50bee75b0d0f8a</anchor>
      <arglist>(Real frameTime=-1)</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>assemble</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a69f802dab0e0608589950181bfaeeb7b</anchor>
      <arglist>(State &amp;state)</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>calcCurrentGoal</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a5d3e8ad35c5f1dd69722e9835ddd0112</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>calcCurrentErrorNorm</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a4cd4e19e7c76a82f23cc5b6d234a6b70</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>updateFromInternalState</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>adeaa9f1040b7e2e7961175395bb3b238</anchor>
      <arglist>(State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>lockMobilizer</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a45805f8d14eb46a2300f4bf221023cff</anchor>
      <arglist>(MobilizedBodyIndex mbx)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>unlockMobilizer</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a96de95a176ba025279a00efeefde37c7</anchor>
      <arglist>(MobilizedBodyIndex mbx)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>lockQ</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a96f3704a614bcb0e3c3b6ec0e5f62767</anchor>
      <arglist>(MobilizedBodyIndex mbx, MobilizerQIndex qx)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>unlockQ</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>ab26a5776dc4633788118d97c31204ed0</anchor>
      <arglist>(MobilizedBodyIndex mbx, MobilizerQIndex qx)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>restrictQ</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a44d237d522926fe07f62a7e568002a46</anchor>
      <arglist>(MobilizedBodyIndex mbx, MobilizerQIndex qx, Real lowerBound, Real upperBound)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>unrestrictQ</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>afa9820086be253df8f0861ae0a5edddd</anchor>
      <arglist>(MobilizedBodyIndex mbx, MobilizerQIndex qx)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getNumGoalEvals</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a87ce0601fb97bc49018ed930b6df3936</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getNumErrorEvals</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a244ab559aeb9f2d7a0083440ee55af7d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getNumGoalGradientEvals</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>ae6f8d69afa280236630a5721f5a6daaf</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getNumErrorJacobianEvals</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a7703a6bcbd4572e3ba90ca174b608abe</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getNumAssemblySteps</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a6f610974257d4945ba3c52366b967149</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getNumInitializations</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>aa2f84a293b54b0a6e9c1ce0a7cb356d3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>resetStats</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a57a15a6ed94e085990736282d69862f7</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="friend" protection="private">
      <type>friend class</type>
      <name>AssemblerSystem</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a250a5a4f578d19ca644313c4f563ad40</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setForceNumericalGradient</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a51911bf6b1073a5820d494247fa9cf1d</anchor>
      <arglist>(bool yesno)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setForceNumericalJacobian</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a1ecda6c568c5090843596c7f73c70391</anchor>
      <arglist>(bool yesno)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setUseRMSErrorNorm</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>ab9c00e8e67f543f973c0c95fa08015cb</anchor>
      <arglist>(bool yesno)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isUsingRMSErrorNorm</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a22e98cb5717c2b3d9e870fea8148df28</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>uninitialize</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>adba388423f1ea58a9d8b34ea78f4a40d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isInitialized</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>aa697b809c8d8464dfa6a4e4247144083</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const State &amp;</type>
      <name>getInternalState</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>ad4accfbf7925e30d539b69b3c98e8c74</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>addReporter</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a99dc8e6c23d858321ba9bb8b8dc4eb78</anchor>
      <arglist>(const EventReporter &amp;reporter)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getNumFreeQs</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a7cbc8eefc5223620e8aeceac6c56555a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>QIndex</type>
      <name>getQIndexOfFreeQ</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a7abb5c60e36c6378f69a3c35006d2872</anchor>
      <arglist>(FreeQIndex freeQIndex) const</arglist>
    </member>
    <member kind="function">
      <type>FreeQIndex</type>
      <name>getFreeQIndexOfQ</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a99c76f7b2163b4c090476c1826d62c4e</anchor>
      <arglist>(QIndex qx) const</arglist>
    </member>
    <member kind="function">
      <type>Vec2</type>
      <name>getFreeQBounds</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a768f8825a6efed8f6eb3458daac85160</anchor>
      <arglist>(FreeQIndex freeQIndex) const</arglist>
    </member>
    <member kind="function">
      <type>const MultibodySystem &amp;</type>
      <name>getMultibodySystem</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>adc8b37c545e03a52efb6846746d2f221</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const SimbodyMatterSubsystem &amp;</type>
      <name>getMatterSubsystem</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a55444904844807ab31650f18b52d51b5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~Assembler</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a45692688783ffbebbea0dab8e311f9b5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Assembler</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a420a4b6c924cef95af35335a27180f2b</anchor>
      <arglist>(const MultibodySystem &amp;system)</arglist>
    </member>
    <member kind="function">
      <type>Assembler &amp;</type>
      <name>setErrorTolerance</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a8a16fafd069377fdbf3e023a5c162bc3</anchor>
      <arglist>(Real tolerance=0)</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getErrorToleranceInUse</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>ac9430720fe5eb1e9e384cd4945679198</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Assembler &amp;</type>
      <name>setAccuracy</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a3bf4031d59982c8b35cdf3e61eee624f</anchor>
      <arglist>(Real accuracy=0)</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getAccuracyInUse</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a4e89ba538fa4cf802a5e0753a1df3b44</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Assembler &amp;</type>
      <name>setSystemConstraintsWeight</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a042163263718878530b553c5de99ab05</anchor>
      <arglist>(Real weight)</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getSystemConstraintsWeight</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>af8bd31128af0688f8b9f284b3095f1f7</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Assembler &amp;</type>
      <name>setAssemblyConditionWeight</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a1c19cc5e034c671f317c74c0db55f7a4</anchor>
      <arglist>(AssemblyConditionIndex condition, Real weight)</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getAssemblyConditionWeight</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a37299c0f20996946aa7acc9a3f36c99a</anchor>
      <arglist>(AssemblyConditionIndex condition) const</arglist>
    </member>
    <member kind="function">
      <type>AssemblyConditionIndex</type>
      <name>adoptAssemblyError</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a74825cbcbd820c905f04adb068bca90e</anchor>
      <arglist>(AssemblyCondition *p)</arglist>
    </member>
    <member kind="function">
      <type>AssemblyConditionIndex</type>
      <name>adoptAssemblyGoal</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a1d83ab5b8f7a696c838540f46b3fda46</anchor>
      <arglist>(AssemblyCondition *p, Real weight=1)</arglist>
    </member>
    <member kind="function">
      <type>Assembler &amp;</type>
      <name>setInternalState</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a7f412259b2b6dea6cb2472184ba8d3de</anchor>
      <arglist>(const State &amp;state)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>initialize</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>ae482c2b03b2ae32c52f7971e198c1cc5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>initialize</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a0f9ae6fbe8ba8f6a1011499a8af8b5ac</anchor>
      <arglist>(const State &amp;state)</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>assemble</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>abf11e6813b2f8e8de97f3825817df601</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>track</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>afa718e809d48c514de50bee75b0d0f8a</anchor>
      <arglist>(Real frameTime=-1)</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>assemble</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a69f802dab0e0608589950181bfaeeb7b</anchor>
      <arglist>(State &amp;state)</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>calcCurrentGoal</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a5d3e8ad35c5f1dd69722e9835ddd0112</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>calcCurrentErrorNorm</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a4cd4e19e7c76a82f23cc5b6d234a6b70</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>updateFromInternalState</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>adeaa9f1040b7e2e7961175395bb3b238</anchor>
      <arglist>(State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>lockMobilizer</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a45805f8d14eb46a2300f4bf221023cff</anchor>
      <arglist>(MobilizedBodyIndex mbx)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>unlockMobilizer</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a96de95a176ba025279a00efeefde37c7</anchor>
      <arglist>(MobilizedBodyIndex mbx)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>lockQ</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a96f3704a614bcb0e3c3b6ec0e5f62767</anchor>
      <arglist>(MobilizedBodyIndex mbx, MobilizerQIndex qx)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>unlockQ</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>ab26a5776dc4633788118d97c31204ed0</anchor>
      <arglist>(MobilizedBodyIndex mbx, MobilizerQIndex qx)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>restrictQ</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
      <anchor>a44d237d522926fe07f62a7e568002a46</anchor>
      <arglist>(MobilizedBodyIndex mbx, MobilizerQIndex qx, Real lowerBound, Real upperBound)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>unrestrictQ</name>
      <anchorfile>classSimTK_1_1Assembler.html</anchorfile>
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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>() const</arglist>
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      <arglist></arglist>
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      <arglist>() const override</arglist>
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      <arglist>() const override</arglist>
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      <arglist>() const override</arglist>
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      <arglist>()</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>() const</arglist>
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      <arglist>() const</arglist>
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    <name>SimTK::CableObstacle</name>
    <filename>classSimTK_1_1CableObstacle.html</filename>
    <class kind="class">SimTK::CableObstacle::Surface</class>
    <class kind="class">SimTK::CableObstacle::ViaPoint</class>
    <member kind="function">
      <type></type>
      <name>CableObstacle</name>
      <anchorfile>classSimTK_1_1CableObstacle.html</anchorfile>
      <anchor>a231430aa4dc022e9a2d4aed92f67d76b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>CableObstacle</name>
      <anchorfile>classSimTK_1_1CableObstacle.html</anchorfile>
      <anchor>aac5a0fa18918df8732e4d8ef78399049</anchor>
      <arglist>(CablePath &amp;path)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>CableObstacle</name>
      <anchorfile>classSimTK_1_1CableObstacle.html</anchorfile>
      <anchor>a669ca502545b20dc1e3b1f601d97c71d</anchor>
      <arglist>(const CableObstacle &amp;source)</arglist>
    </member>
    <member kind="function">
      <type>CableObstacle &amp;</type>
      <name>operator=</name>
      <anchorfile>classSimTK_1_1CableObstacle.html</anchorfile>
      <anchor>a99c496a802347ac6cf2fb713002a89ee</anchor>
      <arglist>(const CableObstacle &amp;source)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~CableObstacle</name>
      <anchorfile>classSimTK_1_1CableObstacle.html</anchorfile>
      <anchor>adbc39b356d1602fe439909aeca2bc806</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const Transform &amp;</type>
      <name>getDefaultTransform</name>
      <anchorfile>classSimTK_1_1CableObstacle.html</anchorfile>
      <anchor>a25a483d950fb24ea88f5ddcb2855ca5f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const MobilizedBody &amp;</type>
      <name>getMobilizedBody</name>
      <anchorfile>classSimTK_1_1CableObstacle.html</anchorfile>
      <anchor>a205d93526d441c0df4b32aff1020d965</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const CablePath &amp;</type>
      <name>getCablePath</name>
      <anchorfile>classSimTK_1_1CableObstacle.html</anchorfile>
      <anchor>a101d33e9ca1f0d34f01716df7c99f860</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>CableObstacleIndex</type>
      <name>getObstacleIndex</name>
      <anchorfile>classSimTK_1_1CableObstacle.html</anchorfile>
      <anchor>a6f3c6f82e3949034d788e6c915fbb7b3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const DecorativeGeometry &amp;</type>
      <name>getDecorativeGeometry</name>
      <anchorfile>classSimTK_1_1CableObstacle.html</anchorfile>
      <anchor>a8725065ecaa610bd390c5d7e0562315d</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>DecorativeGeometry &amp;</type>
      <name>updDecorativeGeometry</name>
      <anchorfile>classSimTK_1_1CableObstacle.html</anchorfile>
      <anchor>a4ba6c2fe9a0755d853b3c1590c059ba2</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>isDisabledByDefault</name>
      <anchorfile>classSimTK_1_1CableObstacle.html</anchorfile>
      <anchor>ad8507d6cd2b3f020231778df9fec0d81</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>CableObstacle &amp;</type>
      <name>setDisabledByDefault</name>
      <anchorfile>classSimTK_1_1CableObstacle.html</anchorfile>
      <anchor>aa52095ce7be236c9d592cf13d3ad9dd9</anchor>
      <arglist>(bool shouldBeDisabled)</arglist>
    </member>
    <member kind="function">
      <type>CableObstacle &amp;</type>
      <name>setDefaultTransform</name>
      <anchorfile>classSimTK_1_1CableObstacle.html</anchorfile>
      <anchor>ab67b6e3e5017d483b7084e8427270b44</anchor>
      <arglist>(const Transform &amp;X_BS)</arglist>
    </member>
    <member kind="function">
      <type>CableObstacle &amp;</type>
      <name>setDecorativeGeometry</name>
      <anchorfile>classSimTK_1_1CableObstacle.html</anchorfile>
      <anchor>a772b29ac24a4ebf43b6534b3edbb801c</anchor>
      <arglist>(const DecorativeGeometry &amp;viz)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>clear</name>
      <anchorfile>classSimTK_1_1CableObstacle.html</anchorfile>
      <anchor>a1c8c5534527612d4d00d9058904f2049</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isEmpty</name>
      <anchorfile>classSimTK_1_1CableObstacle.html</anchorfile>
      <anchor>ae06481913e69300ae342f11740a1ec70</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>const Impl &amp;</type>
      <name>getImpl</name>
      <anchorfile>classSimTK_1_1CableObstacle.html</anchorfile>
      <anchor>aa169b4647795b81345af78b689e939ca</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Impl &amp;</type>
      <name>updImpl</name>
      <anchorfile>classSimTK_1_1CableObstacle.html</anchorfile>
      <anchor>af1815ee85b0b6dfe9000497c0f68b2bc</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="protected">
      <type></type>
      <name>CableObstacle</name>
      <anchorfile>classSimTK_1_1CableObstacle.html</anchorfile>
      <anchor>a4f4f7c5b59229be2a7fd2b58c1727394</anchor>
      <arglist>(Impl *impl)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::CableObstacle::Surface</name>
    <filename>classSimTK_1_1CableObstacle_1_1Surface.html</filename>
    <base>SimTK::CableObstacle</base>
    <member kind="function">
      <type></type>
      <name>Surface</name>
      <anchorfile>classSimTK_1_1CableObstacle_1_1Surface.html</anchorfile>
      <anchor>a9196f232f0840cc9e86d9f3d01758ee3</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>Surface</name>
      <anchorfile>classSimTK_1_1CableObstacle_1_1Surface.html</anchorfile>
      <anchor>a076aeac71a28d211768f3a0fa813bff6</anchor>
      <arglist>(CablePath &amp;path, const MobilizedBody &amp;mobod, const Transform &amp;X_BS, const ContactGeometry &amp;surface)</arglist>
    </member>
    <member kind="function">
      <type>Surface &amp;</type>
      <name>setDecorativeGeometry</name>
      <anchorfile>classSimTK_1_1CableObstacle_1_1Surface.html</anchorfile>
      <anchor>ab4f4052b80de8d02f61b55f875a2cf2b</anchor>
      <arglist>(const DecorativeGeometry &amp;viz)</arglist>
    </member>
    <member kind="function">
      <type>Surface &amp;</type>
      <name>setNearPoint</name>
      <anchorfile>classSimTK_1_1CableObstacle_1_1Surface.html</anchorfile>
      <anchor>a85be8569787944ce70e36ff86a98e27f</anchor>
      <arglist>(const Vec3 &amp;point)</arglist>
    </member>
    <member kind="function">
      <type>Surface &amp;</type>
      <name>setContactPointHints</name>
      <anchorfile>classSimTK_1_1CableObstacle_1_1Surface.html</anchorfile>
      <anchor>a3e7d647cc453d97e9ab78ae5b7d874c1</anchor>
      <arglist>(const Vec3 &amp;startHint, const Vec3 &amp;endHint)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>isInstance</name>
      <anchorfile>classSimTK_1_1CableObstacle_1_1Surface.html</anchorfile>
      <anchor>a1b42c5ac8c90c2dcb9edc87f5d52e53e</anchor>
      <arglist>(const CableObstacle &amp;)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const Surface &amp;</type>
      <name>downcast</name>
      <anchorfile>classSimTK_1_1CableObstacle_1_1Surface.html</anchorfile>
      <anchor>a75bc2b74f014e76e9a9c31a130a3dd64</anchor>
      <arglist>(const CableObstacle &amp;)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Surface &amp;</type>
      <name>updDowncast</name>
      <anchorfile>classSimTK_1_1CableObstacle_1_1Surface.html</anchorfile>
      <anchor>a3c19a7e6b550dca9d7a3a78b5eba52f9</anchor>
      <arglist>(CableObstacle &amp;)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::CableObstacle::ViaPoint</name>
    <filename>classSimTK_1_1CableObstacle_1_1ViaPoint.html</filename>
    <base>SimTK::CableObstacle</base>
    <member kind="function">
      <type></type>
      <name>ViaPoint</name>
      <anchorfile>classSimTK_1_1CableObstacle_1_1ViaPoint.html</anchorfile>
      <anchor>a0616df779aa452e8f0cf42d360b8a2e7</anchor>
      <arglist>()</arglist>
    </member>
    <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>
    </member>
    <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>
    </member>
    <member kind="function" static="yes">
      <type>static const ViaPoint &amp;</type>
      <name>downcast</name>
      <anchorfile>classSimTK_1_1CableObstacle_1_1ViaPoint.html</anchorfile>
      <anchor>a35ac5e18b524a66fc0fe5440826cfe0a</anchor>
      <arglist>(const CableObstacle &amp;)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ViaPoint &amp;</type>
      <name>updDowncast</name>
      <anchorfile>classSimTK_1_1CableObstacle_1_1ViaPoint.html</anchorfile>
      <anchor>a6c2a421305ee547fa32121721483d22c</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>
    </member>
    <member kind="function">
      <type></type>
      <name>CablePath</name>
      <anchorfile>classSimTK_1_1CablePath.html</anchorfile>
      <anchor>ac59ed2bfd55237ea705bedce6211a8ac</anchor>
      <arglist>(const CablePath &amp;source)</arglist>
    </member>
    <member kind="function">
      <type>CablePath &amp;</type>
      <name>operator=</name>
      <anchorfile>classSimTK_1_1CablePath.html</anchorfile>
      <anchor>aa5fd6cb1d0c1926b58e1bb1d266cec2a</anchor>
      <arglist>(const CablePath &amp;source)</arglist>
    </member>
    <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>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getNumObstacles</name>
      <anchorfile>classSimTK_1_1CablePath.html</anchorfile>
      <anchor>a607b9349f466ead229254b4324ba04b9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const CableObstacle &amp;</type>
      <name>getObstacle</name>
      <anchorfile>classSimTK_1_1CablePath.html</anchorfile>
      <anchor>aa20b666b469caad2c5cc5b80a18853bc</anchor>
      <arglist>(CableObstacleIndex obstacleIx) const</arglist>
    </member>
    <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>
    </member>
    <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>
    </member>
    <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>
    </member>
    <member kind="function">
      <type>const Impl &amp;</type>
      <name>getImpl</name>
      <anchorfile>classSimTK_1_1CablePath.html</anchorfile>
      <anchor>a97929864e7ff5fa0e6ec5bd2388f89ff</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Impl &amp;</type>
      <name>updImpl</name>
      <anchorfile>classSimTK_1_1CablePath.html</anchorfile>
      <anchor>aa338e3a02d930bbc4f38d4c700fa6b9e</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::CablePathIndex</name>
    <filename>classSimTK_1_1CablePathIndex.html</filename>
  </compound>
  <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>
    </member>
    <member kind="function">
      <type>CableSpring &amp;</type>
      <name>setDefaultStiffness</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a99992f4f036343704e817e0c06490834</anchor>
      <arglist>(Real stiffness)</arglist>
    </member>
    <member kind="function">
      <type>CableSpring &amp;</type>
      <name>setDefaultSlackLength</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>acdb0cd97ed53449ee076edaf1fda7fd7</anchor>
      <arglist>(Real slackLength)</arglist>
    </member>
    <member kind="function">
      <type>CableSpring &amp;</type>
      <name>setDefaultDissipationCoef</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a89d31ac4520c4df3b48d62f677233aae</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>
    </member>
    <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>a16785925fec909a499c207d6d9619d97</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>a90c2c364c08e5d10ae0604fb570b98f6</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>a156f9d4ec3370b373303c2a33a6f30ca</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>
    </member>
    <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>
    </member>
    <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>
    </member>
    <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>
    </member>
    <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>
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      <arglist>(const State &amp;state) const</arglist>
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      <type>Real</type>
      <name>getDissipatedEnergy</name>
      <anchorfile>classSimTK_1_1CableSpring.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_1CableSpring.html</anchorfile>
      <anchor>a96919741a4cc978a12666d7410b41fbd</anchor>
      <arglist>(State &amp;state, Real energy) const</arglist>
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    <member kind="function">
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      <arglist>() const</arglist>
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    <member kind="function">
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      <name>setDefaultStiffness</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>a99992f4f036343704e817e0c06490834</anchor>
      <arglist>(Real stiffness)</arglist>
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    <member kind="function">
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      <name>setDefaultSlackLength</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
      <anchor>acdb0cd97ed53449ee076edaf1fda7fd7</anchor>
      <arglist>(Real slackLength)</arglist>
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    <member kind="function">
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      <name>setDefaultDissipationCoef</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
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      <arglist>(Real dissipation)</arglist>
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      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getDefaultDissipationCoef</name>
      <anchorfile>classSimTK_1_1CableSpring.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
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      <arglist>(State &amp;state, Real stiffness) const</arglist>
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    <member kind="function">
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      <name>setSlackLength</name>
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      <arglist>(State &amp;state, Real slackLength) const</arglist>
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    <member kind="function">
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      <arglist>(State &amp;state, Real dissipationCoef) const</arglist>
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      <arglist>(const State &amp;state) const</arglist>
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      <name>getSlackLength</name>
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      <arglist>(const State &amp;state) const</arglist>
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      <name>getDissipationCoef</name>
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      <arglist>(const State &amp;state) const</arglist>
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      <name>getLength</name>
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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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      <arglist>(const State &amp;state) 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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      <arglist>(const State &amp;state) const</arglist>
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      <arglist>(State &amp;state, Real energy) const</arglist>
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      <arglist>() const</arglist>
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      <arglist>()</arglist>
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      <arglist>(CablePathIndex cableIx) const</arglist>
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      <arglist>(CablePathIndex cableIx)</arglist>
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      <arglist>(ContactSurfaceIndex surf1, Real radius1, ContactSurfaceIndex surf2, Real radius2, const Transform &amp;X_S1S2, Real radius, Real depth, const Vec3 &amp;origin_S1, const UnitVec3 &amp;normal_S1)</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 Contact &amp;contact)</arglist>
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      <arglist>(const Contact &amp;contact)</arglist>
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      <arglist>(Contact &amp;contact)</arglist>
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      <arglist>()</arglist>
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      <arglist>() noexcept</arglist>
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      <arglist>(T *x)</arglist>
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      <arglist>(CloneOnWritePtr &amp;&amp;src) noexcept</arglist>
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      <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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      <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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      <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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      <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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      <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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      <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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      <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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      <arglist>(ContactForceGenerator *generator)</arglist>
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      <arglist>(const State &amp;) const</arglist>
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      <type>void</type>
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      <anchorfile>classSimTK_1_1Constraint.html</anchorfile>
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      <arglist>(const State &amp;, const Vector &amp;lambda, Vector_&lt; SpatialVec &gt; &amp;bodyForcesInA, Vector &amp;mobilityForces) const</arglist>
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      <type>Vector</type>
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      <anchorfile>classSimTK_1_1Constraint.html</anchorfile>
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      <arglist>(const State &amp;) const</arglist>
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      <arglist>(const State &amp;, const Vector &amp;u) 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 Vector &amp;udot) const</arglist>
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      <arglist>(const State &amp;) const</arglist>
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      <arglist>(const State &amp;state, Vector_&lt; SpatialVec &gt; &amp;bodyForcesInG, Vector &amp;mobilityForces) const</arglist>
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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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      <arglist>(bool isConditional)</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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      <arglist>(const Vec3 &amp;defaultPoint_B2)</arglist>
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      <anchorfile>classSimTK_1_1Constraint_1_1Ball.html</anchorfile>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(Real r)</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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      <type>Vec3</type>
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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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      <arglist>(const State &amp;) const</arglist>
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      <arglist>(const State &amp;) const</arglist>
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      <type>Vec3</type>
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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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      <arglist>(MobilizedBody &amp;mobilizer, MobilizerUIndex whichU, Real defaultAcceleration)</arglist>
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      <arglist>(MobilizedBody &amp;mobilizer, Real defaultAcceleration)</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>(Real accel)</arglist>
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      <arglist>(const State &amp;state) const</arglist>
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      <arglist>(MobilizedBody &amp;baseBody_B, const UnitVec3 &amp;defaultAxis_B, MobilizedBody &amp;followerBody_F, const UnitVec3 &amp;defaultAxis_F, Real angle=Pi/2)</arglist>
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      <arglist>()</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 UnitVec3 &amp;)</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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      <type>const UnitVec3 &amp;</type>
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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>(MobilizedBody &amp;mobilizer, Real defaultSpeed)</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(Real speed)</arglist>
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      <anchorfile>classSimTK_1_1Constraint_1_1ConstantSpeed.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_1Constraint_1_1ConstantSpeed.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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      <anchorfile>classSimTK_1_1Constraint_1_1ConstantSpeed.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <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>a4e2c2a870e2abff672e89aece579efd3</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>aac6d5d2362e68f60b0897e5b240985ed</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>a090b980a5a18ecb00cf01f730d7186e6</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>af3e5281f190eb2693e629ed65201550a</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>a669c48b424fe3ad54a7d8e14fead1114</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>a15c6a293152115a98bb533b21340ed01</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>a61b0201f89997c0457aac6d7a3c21264</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>adbed887f7ee18730cb9f3f635a4697b1</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>a45cc4a755819fdc41f46a9a170778f8b</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>a28d867ff892cac75e9920c8b679aadf5</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>a8719738211a7d91e4d2736a9ed5d98cc</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>a00b9fddb8ccb3d71fd15848786eed64a</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>ad348bad1069ff94f473409b6a8857813</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>a67e667f73fa3466b62b4a1a5d44419dc</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>aaa11b3976ff5f47d958783b4808cb5bf</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>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>a4e2c2a870e2abff672e89aece579efd3</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>aac6d5d2362e68f60b0897e5b240985ed</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>a090b980a5a18ecb00cf01f730d7186e6</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>af3e5281f190eb2693e629ed65201550a</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>a669c48b424fe3ad54a7d8e14fead1114</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>a15c6a293152115a98bb533b21340ed01</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>a61b0201f89997c0457aac6d7a3c21264</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>adbed887f7ee18730cb9f3f635a4697b1</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>a45cc4a755819fdc41f46a9a170778f8b</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>a28d867ff892cac75e9920c8b679aadf5</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>a8719738211a7d91e4d2736a9ed5d98cc</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>a00b9fddb8ccb3d71fd15848786eed64a</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>ad348bad1069ff94f473409b6a8857813</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>a67e667f73fa3466b62b4a1a5d44419dc</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>aaa11b3976ff5f47d958783b4808cb5bf</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>a819e26c122b0baa354adce645d627f08</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>ae6346cae5e194bd80f17a1c8572400d1</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>af64eea2ec9657b747b088a8661c489eb</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>a3d1b1673edae2a5153217176a90b0d90</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>a50a558af2a14b49d3521a8ad36c131e9</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>ae4dbfe5c361ee10adcf54f308c698668</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>a1a4213845726a9bad51c95120b226ed9</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>a6fe19255b660bdd4d3da0754ca989937</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>ad644ffa2455b20de7c4aa7ba2f036580</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>a4a5fb118a366b974d1feee74f908e4ae</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>ae50b5f70320ede6de57fc2bac4099c8c</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>af513de248758a7971d75ed517a12f561</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>acf52208207c76127a7d77993c273dc90</anchor>
      <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>
      <anchor>aeb392db8fd670ba98fb94966e5c30f93</anchor>
      <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>ad56d79bb37e4cd347782b9ff629e6673</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>
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    <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>
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    <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>
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    <member kind="function">
      <type>const MobilizedBody &amp;</type>
      <name>getMobilizedBodyF</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a819e26c122b0baa354adce645d627f08</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>const MobilizedBody &amp;</type>
      <name>getMobilizedBodyB</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>ae6346cae5e194bd80f17a1c8572400d1</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>isEnforcingRolling</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a35fbd4316a2d8170131fa6bd59e85c3e</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>LineOnLineContact &amp;</type>
      <name>setDefaultEdgeFrameF</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>af64eea2ec9657b747b088a8661c489eb</anchor>
      <arglist>(const Transform &amp;defaultEdgeFrameF)</arglist>
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    <member kind="function">
      <type>LineOnLineContact &amp;</type>
      <name>setDefaultHalfLengthF</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a3d1b1673edae2a5153217176a90b0d90</anchor>
      <arglist>(Real defaultHalfLengthF)</arglist>
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    <member kind="function">
      <type>LineOnLineContact &amp;</type>
      <name>setDefaultEdgeFrameB</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a50a558af2a14b49d3521a8ad36c131e9</anchor>
      <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>ae4dbfe5c361ee10adcf54f308c698668</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>a1a4213845726a9bad51c95120b226ed9</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>a6fe19255b660bdd4d3da0754ca989937</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>
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      <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>ad644ffa2455b20de7c4aa7ba2f036580</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>a4a5fb118a366b974d1feee74f908e4ae</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>ae50b5f70320ede6de57fc2bac4099c8c</anchor>
      <arglist>(State &amp;state, const Transform &amp;edgeFrameB) const</arglist>
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      <type>const LineOnLineContact &amp;</type>
      <name>setHalfLengthB</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>af513de248758a7971d75ed517a12f561</anchor>
      <arglist>(State &amp;state, Real halfLengthB) const</arglist>
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      <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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      <type>Real</type>
      <name>getHalfLengthF</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>aeb392db8fd670ba98fb94966e5c30f93</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const Transform &amp;</type>
      <name>getEdgeFrameB</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>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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      <name>getPositionError</name>
      <anchorfile>classSimTK_1_1Constraint_1_1LineOnLineContact.html</anchorfile>
      <anchor>a3d0e5fcd61d8714344690dad5203d12d</anchor>
      <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>
      <anchor>a10bc9e8411c0d588d62e738991954842</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <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>
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      <arglist>(const State &amp;state) const</arglist>
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      <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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      <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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    <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>
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    <base>SimTK::Constraint</base>
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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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      <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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      <arglist>(State &amp;state, const UnitVec3 &amp;direction_C) const</arglist>
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      <type>const Vec3 &amp;</type>
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      <arglist>(const State &amp;state) const</arglist>
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      <type>const UnitVec3 &amp;</type>
      <name>getDirection</name>
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      <arglist>(const State &amp;state) const</arglist>
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      <type>NoSlip1D &amp;</type>
      <name>setDirectionDisplayLength</name>
      <anchorfile>classSimTK_1_1Constraint_1_1NoSlip1D.html</anchorfile>
      <anchor>af091580fef7009ae868061370a6b205c</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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      <type>Real</type>
      <name>getDirectionDisplayLength</name>
      <anchorfile>classSimTK_1_1Constraint_1_1NoSlip1D.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>Real</type>
      <name>getPointDisplayRadius</name>
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      <arglist>() const</arglist>
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      <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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      <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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      <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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      <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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      <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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      <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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      <anchorfile>classSimTK_1_1Constraint_1_1NoSlip1D.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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      <name>getAccelerationError</name>
      <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>
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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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      <arglist>(const State &amp;state) const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(State &amp;state, const Transform &amp;planeFrame) 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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      <arglist>(const State &amp;state) const</arglist>
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      <arglist>(const State &amp;state) const</arglist>
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      <arglist>(ContactId id)</arglist>
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      <arglist>(Condition condition)</arglist>
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      <arglist>() const</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>(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>()</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</arglist>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setCompliantContactSubsystem</name>
      <anchorfile>classSimTK_1_1ContactForceGenerator.html</anchorfile>
      <anchor>ab8852ef9fa5e12271bab3bf856415fc8</anchor>
      <arglist>(const CompliantContactSubsystem *sub)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~ContactForceGenerator</name>
      <anchorfile>classSimTK_1_1ContactForceGenerator.html</anchorfile>
      <anchor>a792f49ac716f64f1596a9ec925e191e4</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>calcContactForce</name>
      <anchorfile>classSimTK_1_1ContactForceGenerator.html</anchorfile>
      <anchor>a85d96c881f8e75e6040b9731b670a438</anchor>
      <arglist>(const State &amp;state, const Contact &amp;overlapping, const SpatialVec &amp;V_S1S2, ContactForce &amp;contactForce) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>calcContactPatch</name>
      <anchorfile>classSimTK_1_1ContactForceGenerator.html</anchorfile>
      <anchor>af2ac4cae08b6397f8d54b9b589a02297</anchor>
      <arglist>(const State &amp;state, const Contact &amp;overlapping, const SpatialVec &amp;V_S1S2, ContactPatch &amp;patch) const =0</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::ContactForceGenerator::BrickHalfSpacePenalty</name>
    <filename>classSimTK_1_1ContactForceGenerator_1_1BrickHalfSpacePenalty.html</filename>
    <base>SimTK::ContactForceGenerator</base>
    <member kind="function">
      <type></type>
      <name>BrickHalfSpacePenalty</name>
      <anchorfile>classSimTK_1_1ContactForceGenerator_1_1BrickHalfSpacePenalty.html</anchorfile>
      <anchor>ae456d36fd0191b65be6871dee0a356cb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcContactForce</name>
      <anchorfile>classSimTK_1_1ContactForceGenerator_1_1BrickHalfSpacePenalty.html</anchorfile>
      <anchor>a434d8b9503abb6db347b45317ac9acf1</anchor>
      <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_1BrickHalfSpacePenalty.html</anchorfile>
      <anchor>a2bc1cfd94e61dfae07b43a63adacff13</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::ContactForceGenerator::DoNothing</name>
    <filename>classSimTK_1_1ContactForceGenerator_1_1DoNothing.html</filename>
    <base>SimTK::ContactForceGenerator</base>
    <member kind="function">
      <type></type>
      <name>DoNothing</name>
      <anchorfile>classSimTK_1_1ContactForceGenerator_1_1DoNothing.html</anchorfile>
      <anchor>a50cf5f041a6ac236b8752a5e0a9c27e1</anchor>
      <arglist>(ContactTypeId type=ContactTypeId(0))</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcContactForce</name>
      <anchorfile>classSimTK_1_1ContactForceGenerator_1_1DoNothing.html</anchorfile>
      <anchor>ac99b7773b1601ce89f2efa61c06aceb4</anchor>
      <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_1DoNothing.html</anchorfile>
      <anchor>aaf73aa051ac5724bcdd464e8cbdb9a48</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::ContactForceGenerator::ElasticFoundation</name>
    <filename>classSimTK_1_1ContactForceGenerator_1_1ElasticFoundation.html</filename>
    <base>SimTK::ContactForceGenerator</base>
    <member kind="function">
      <type></type>
      <name>ElasticFoundation</name>
      <anchorfile>classSimTK_1_1ContactForceGenerator_1_1ElasticFoundation.html</anchorfile>
      <anchor>acb3b84e1c25d7c98514277d586bc5939</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>calcContactForce</name>
      <anchorfile>classSimTK_1_1ContactForceGenerator_1_1ElasticFoundation.html</anchorfile>
      <anchor>af4c19080963d899af3c5f1bcd91953a8</anchor>
      <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_1ElasticFoundation.html</anchorfile>
      <anchor>a55bb4369e3340f6abb3ed9621e372b55</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::ContactForceGenerator::HertzCircular</name>
    <filename>classSimTK_1_1ContactForceGenerator_1_1HertzCircular.html</filename>
    <base>SimTK::ContactForceGenerator</base>
    <member kind="function">
      <type></type>
      <name>HertzCircular</name>
      <anchorfile>classSimTK_1_1ContactForceGenerator_1_1HertzCircular.html</anchorfile>
      <anchor>a36e63f4f505f7ace6b085c66ecf4093d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcContactForce</name>
      <anchorfile>classSimTK_1_1ContactForceGenerator_1_1HertzCircular.html</anchorfile>
      <anchor>a73744ccb38561f3aad4436b064287815</anchor>
      <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_1HertzCircular.html</anchorfile>
      <anchor>a0e2d52b5a22b2afd27ff19275cfb9142</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::ContactForceGenerator::HertzElliptical</name>
    <filename>classSimTK_1_1ContactForceGenerator_1_1HertzElliptical.html</filename>
    <base>SimTK::ContactForceGenerator</base>
    <member kind="function">
      <type></type>
      <name>HertzElliptical</name>
      <anchorfile>classSimTK_1_1ContactForceGenerator_1_1HertzElliptical.html</anchorfile>
      <anchor>a2d1bc188a893a51c8403bc2fdf8ed28d</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>calcContactForce</name>
      <anchorfile>classSimTK_1_1ContactForceGenerator_1_1HertzElliptical.html</anchorfile>
      <anchor>ae27b58c6ab3ce09f866949dba778c5c9</anchor>
      <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_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>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::ContactForceGenerator::ThrowError</name>
    <filename>classSimTK_1_1ContactForceGenerator_1_1ThrowError.html</filename>
    <base>SimTK::ContactForceGenerator</base>
    <member kind="function">
      <type></type>
      <name>ThrowError</name>
      <anchorfile>classSimTK_1_1ContactForceGenerator_1_1ThrowError.html</anchorfile>
      <anchor>a965374d85ccf8e42bbaa373770fb1911</anchor>
      <arglist>(ContactTypeId type=ContactTypeId(0))</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcContactForce</name>
      <anchorfile>classSimTK_1_1ContactForceGenerator_1_1ThrowError.html</anchorfile>
      <anchor>a1209cb6aede55ff1de77615cae2f06d1</anchor>
      <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>
    <class kind="class">SimTK::ContactGeometry::Torus</class>
    <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>
      <anchor>aedf0a26eaf37452a0dceedd31fbcd982</anchor>
      <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>
    </member>
    <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>
    </member>
    <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>
    </member>
    <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>
    </member>
    <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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    <member kind="function">
      <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>
    </member>
    <member kind="function">
      <type>const Function &amp;</type>
      <name>getImplicitFunction</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a982e8101633c1b7411350e883c2d3078</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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    <member kind="function">
      <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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    <member kind="function">
      <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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    <member kind="function">
      <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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    <member kind="function">
      <type></type>
      <name>ContactGeometry</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>ac648a4888974dc91db4c67ee3c21ef72</anchor>
      <arglist>(ContactGeometryImpl *impl)</arglist>
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    <member kind="function">
      <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>
      <anchor>a959dc355f4f7f04f5d5eb9a3daf95b3d</anchor>
      <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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      <type>ContactGeometryImpl &amp;</type>
      <name>updImpl</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a04e69609e935da8ddb7a4d702bd66fd4</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>
    </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>
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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>
    </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>
    </member>
    <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>
    </member>
    <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>
    </member>
    <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>
    </member>
    <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>
    </member>
    <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>
    </member>
    <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>
    </member>
    <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>
    </member>
    <member kind="function">
      <type>const Geodesic &amp;</type>
      <name>getGeodP</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
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      <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>ac6acad967e5dedd07e9f71a98a20c51c</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>const int</type>
      <name>getNumGeodesicsShot</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a194ad90ea8cba0a176b5e0982d2b1997</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <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>
    </member>
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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>
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      <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>
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      <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>
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      <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>
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      <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>
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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>
    </member>
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      <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>
    </member>
    <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>
    </member>
    <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>
    </member>
    <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>
    </member>
    <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>
      <anchor>a3d0bc5c1ae63ec9aecab2d446fbb1897</anchor>
      <arglist>() const</arglist>
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      <type>void</type>
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      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>a2b64dde0ca2dfcd094b0b6204f4a21b6</anchor>
      <arglist>(const Plane &amp;plane) const</arglist>
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    <member kind="function">
      <type>const Geodesic &amp;</type>
      <name>getGeodP</name>
      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>const Geodesic &amp;</type>
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      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
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      <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>
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      <anchorfile>classSimTK_1_1ContactGeometry.html</anchorfile>
      <anchor>ae4542caabc4680f44e5a696caf303e86</anchor>
      <arglist>(ScheduledEventReporter *reporter) const</arglist>
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  <compound kind="class">
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      <type></type>
      <name>Brick</name>
      <anchorfile>classSimTK_1_1ContactGeometry_1_1Brick.html</anchorfile>
      <anchor>a7f4c860ba8139e997ea920de06b3573e</anchor>
      <arglist>(const Vec3 &amp;halfLengths)</arglist>
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    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getHalfLengths</name>
      <anchorfile>classSimTK_1_1ContactGeometry_1_1Brick.html</anchorfile>
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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 Vec3 &amp;halfLengths)</arglist>
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      <type>const Geo::Box &amp;</type>
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      <anchorfile>classSimTK_1_1ContactGeometry_1_1Brick.html</anchorfile>
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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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      <anchorfile>classSimTK_1_1ContactGeometry_1_1Brick.html</anchorfile>
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      <arglist>()</arglist>
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      <anchorfile>classSimTK_1_1ContactGeometry_1_1Brick.html</anchorfile>
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      <arglist>(const ContactGeometry &amp;geo)</arglist>
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      <anchorfile>classSimTK_1_1ContactGeometry_1_1Brick.html</anchorfile>
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      <arglist>(const ContactGeometry &amp;geo)</arglist>
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      <anchorfile>classSimTK_1_1ContactGeometry_1_1Brick.html</anchorfile>
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      <arglist>(ContactGeometry &amp;geo)</arglist>
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      <type>static ContactGeometryTypeId</type>
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      <anchorfile>classSimTK_1_1ContactGeometry_1_1Brick.html</anchorfile>
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      <arglist>()</arglist>
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    <base>SimTK::ContactGeometry</base>
    <member kind="function">
      <type></type>
      <name>Cylinder</name>
      <anchorfile>classSimTK_1_1ContactGeometry_1_1Cylinder.html</anchorfile>
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      <arglist>(Real radius)</arglist>
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    <member kind="function">
      <type>Real</type>
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      <anchorfile>classSimTK_1_1ContactGeometry_1_1Cylinder.html</anchorfile>
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      <arglist>() const</arglist>
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      <anchorfile>classSimTK_1_1ContactGeometry_1_1Cylinder.html</anchorfile>
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      <arglist>(Real radius)</arglist>
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      <anchorfile>classSimTK_1_1ContactGeometry_1_1Cylinder.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>Impl &amp;</type>
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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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      <type></type>
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      <arglist>(const Vec3 &amp;radii)</arglist>
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      <anchorfile>classSimTK_1_1ContactGeometry_1_1Ellipsoid.html</anchorfile>
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      <arglist>() const</arglist>
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      <arglist>(const Vec3 &amp;radii)</arglist>
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      <anchorfile>classSimTK_1_1ContactGeometry_1_1Ellipsoid.html</anchorfile>
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      <arglist>() const</arglist>
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      <anchorfile>classSimTK_1_1ContactGeometry_1_1Ellipsoid.html</anchorfile>
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      <arglist>(const Vec3 &amp;P) const</arglist>
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      <type>Vec3</type>
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      <anchorfile>classSimTK_1_1ContactGeometry_1_1Ellipsoid.html</anchorfile>
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      <arglist>(const UnitVec3 &amp;n) const</arglist>
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    <member kind="function">
      <type>Vec3</type>
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      <anchorfile>classSimTK_1_1ContactGeometry_1_1Ellipsoid.html</anchorfile>
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      <arglist>(const Vec3 &amp;Q) const</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>(Real stiffness)</arglist>
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      <arglist>(Real dissipation)</arglist>
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      <arglist>(Real restitution, Real speed)</arglist>
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      <arglist></arglist>
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      <arglist>(Real thickness)</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 Array_&lt; ContactCliqueId, short &gt; &amp;a, const Array_&lt; ContactCliqueId, short &gt; &amp;b)</arglist>
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      <arglist>(ContactGeometryTypeId typeOfSurface1, ContactGeometryTypeId typeOfSurface2)</arglist>
    </member>
    <member kind="function">
      <type>const std::pair&lt; ContactGeometryTypeId, ContactGeometryTypeId &gt; &amp;</type>
      <name>getContactGeometryTypeIds</name>
      <anchorfile>classSimTK_1_1ContactTracker.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~ContactTracker</name>
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      <arglist>()</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>trackContact</name>
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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 =0</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>refineImplicitPair</name>
      <anchorfile>classSimTK_1_1ContactTracker.html</anchorfile>
      <anchor>a4e8b5f29b305d4235fc524d0f1e36434</anchor>
      <arglist>(const ContactGeometry &amp;shapeA, Vec3 &amp;pointP_A, const ContactGeometry &amp;shapeB, Vec3 &amp;pointQ_B, const Transform &amp;X_AB, Real accuracyRequested, Real &amp;accuracyAchieved, int &amp;numIterations)</arglist>
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    <member kind="function" static="yes">
      <type>static Vec6</type>
      <name>findImplicitPairError</name>
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      <arglist>(const ContactGeometry &amp;shapeA, const Vec3 &amp;pointP, const ContactGeometry &amp;shapeB, const Vec3 &amp;pointQ, const Transform &amp;X_AB)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Mat66</type>
      <name>calcImplicitPairJacobian</name>
      <anchorfile>classSimTK_1_1ContactTracker.html</anchorfile>
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      <arglist>(const ContactGeometry &amp;shapeA, const Vec3 &amp;pointP, const ContactGeometry &amp;shapeB, const Vec3 &amp;pointQ, const Transform &amp;X_AB, const Vec6 &amp;err0)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>estimateConvexImplicitPairContactUsingMPR</name>
      <anchorfile>classSimTK_1_1ContactTracker.html</anchorfile>
      <anchor>a39ec083da5a767f36589d0c43999bff6</anchor>
      <arglist>(const ContactGeometry &amp;shapeA, const ContactGeometry &amp;shapeB, const Transform &amp;X_AB, Vec3 &amp;pointP_A, Vec3 &amp;pointQ_B, UnitVec3 &amp;dirInA, int &amp;numIterations)</arglist>
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    <base>SimTK::ContactTracker</base>
    <member kind="function">
      <type></type>
      <name>ConvexImplicitPair</name>
      <anchorfile>classSimTK_1_1ContactTracker_1_1ConvexImplicitPair.html</anchorfile>
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      <arglist>(ContactGeometryTypeId type1, ContactGeometryTypeId type2)</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>trackContact</name>
      <anchorfile>classSimTK_1_1ContactTracker_1_1ConvexImplicitPair.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>
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  <compound kind="class">
    <name>SimTK::ContactTracker::GeneralImplicitPair</name>
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    <base>SimTK::ContactTracker</base>
    <member kind="function">
      <type></type>
      <name>GeneralImplicitPair</name>
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      <arglist>(ContactGeometryTypeId type1, ContactGeometryTypeId type2)</arglist>
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    <member kind="function">
      <type>bool</type>
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      <anchorfile>classSimTK_1_1ContactTracker_1_1GeneralImplicitPair.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>
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  <compound kind="class">
    <name>SimTK::ContactTracker::HalfSpaceBrick</name>
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    <base>SimTK::ContactTracker</base>
    <member kind="function">
      <type></type>
      <name>HalfSpaceBrick</name>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>trackContact</name>
      <anchorfile>classSimTK_1_1ContactTracker_1_1HalfSpaceBrick.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>
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  <compound kind="class">
    <name>SimTK::ContactTracker::HalfSpaceConvexImplicit</name>
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    <base>SimTK::ContactTracker</base>
    <member kind="function">
      <type></type>
      <name>HalfSpaceConvexImplicit</name>
      <anchorfile>classSimTK_1_1ContactTracker_1_1HalfSpaceConvexImplicit.html</anchorfile>
      <anchor>a9506edd0e785bce013f0c47a922b615b</anchor>
      <arglist>(ContactGeometryTypeId typeOfConvexImplicitSurface)</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>trackContact</name>
      <anchorfile>classSimTK_1_1ContactTracker_1_1HalfSpaceConvexImplicit.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>
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  <compound kind="class">
    <name>SimTK::ContactTracker::HalfSpaceEllipsoid</name>
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    <base>SimTK::ContactTracker</base>
    <member kind="function">
      <type></type>
      <name>HalfSpaceEllipsoid</name>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>bool</type>
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      <anchorfile>classSimTK_1_1ContactTracker_1_1HalfSpaceEllipsoid.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>
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  <compound kind="class">
    <name>SimTK::ContactTracker::HalfSpaceSphere</name>
    <filename>classSimTK_1_1ContactTracker_1_1HalfSpaceSphere.html</filename>
    <base>SimTK::ContactTracker</base>
    <member kind="function">
      <type></type>
      <name>HalfSpaceSphere</name>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>bool</type>
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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>
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  <compound kind="class">
    <name>SimTK::ContactTracker::HalfSpaceTriangleMesh</name>
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    <base>SimTK::ContactTracker</base>
    <member kind="function">
      <type></type>
      <name>HalfSpaceTriangleMesh</name>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>bool</type>
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      <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>
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  <compound kind="class">
    <name>SimTK::ContactTracker::SphereSphere</name>
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    <base>SimTK::ContactTracker</base>
    <member kind="function">
      <type></type>
      <name>SphereSphere</name>
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      <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>
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    <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>
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  <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>
      <anchor>ac1693f16d9b8778dbbaea9f2404e4cdb</anchor>
      <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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    <name>SimTK::ContactTrackerSubsystem</name>
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    <base>SimTK::Subsystem</base>
    <member kind="function">
      <type></type>
      <name>ContactTrackerSubsystem</name>
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      <anchor>a6fa67691d985391f435141139d731593</anchor>
      <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>
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      <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>a2e26c278aa3c40f1bde248cafd4348a5</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>
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      <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>ab74aedee6bb9fb08526d1d64f361c4c5</anchor>
      <arglist>(ContactSurfaceIndex surfIx) const</arglist>
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      <type>const ContactSurface &amp;</type>
      <name>getContactSurface</name>
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      <anchor>a336de1e021d56fda553c9e1b57c1312a</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>
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      <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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      <name>hasContactTracker</name>
      <anchorfile>classSimTK_1_1ContactTrackerSubsystem.html</anchorfile>
      <anchor>a0af0925d95e3cdcfa77ac5fc84d1e2ac</anchor>
      <arglist>(ContactGeometryTypeId surface1, ContactGeometryTypeId surface2) const</arglist>
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      <type>const ContactTracker &amp;</type>
      <name>getContactTracker</name>
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      <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>
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      <anchor>a40ff1ebfa8f1cf00fd3afb1feede785a</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <arglist>(const State &amp;state) const</arglist>
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      <arglist>(const State &amp;state, bool lastTry, Real &amp;stepAdvice) 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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      <arglist>()</arglist>
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    <member kind="function">
      <type>const ContactSnapshot &amp;</type>
      <name>getActiveContacts</name>
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      <arglist>(const State &amp;state) const</arglist>
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      <type>const ContactSnapshot &amp;</type>
      <name>getPredictedContacts</name>
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      <arglist>(const State &amp;state) const</arglist>
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      <arglist>() const</arglist>
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      <anchorfile>classSimTK_1_1ContactTrackerSubsystem.html</anchorfile>
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      <arglist>(MobilizedBodyIndex mobod, int contactSurfaceOrdinal) const</arglist>
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    <member kind="function">
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      <arglist>(ContactSurfaceIndex surfIx) const</arglist>
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      <arglist>(ContactSurfaceIndex surfIx) const</arglist>
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      <arglist>(ContactSurfaceIndex surfIx) const</arglist>
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      <arglist>(ContactTracker *tracker)</arglist>
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      <anchorfile>classSimTK_1_1ContactTrackerSubsystem.html</anchorfile>
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      <arglist>(ContactGeometryTypeId surface1, ContactGeometryTypeId surface2) const</arglist>
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      <type>const ContactTracker &amp;</type>
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      <arglist>(ContactGeometryTypeId surface1, ContactGeometryTypeId surface2, bool &amp;reverseOrder) const</arglist>
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      <type>const ContactSnapshot &amp;</type>
      <name>getPreviousActiveContacts</name>
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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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      <arglist>(Real t, const Vector &amp;y, Vector &amp;cout) const</arglist>
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      <arglist>(Real t, const Vector &amp;ycur, Vector &amp;corr, Real epsProj, Vector &amp;err) const</arglist>
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      <arglist>(Real t, const Vector &amp;y, Vector &amp;qout) const</arglist>
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      <arglist>(Real t, const Vector &amp;y, const Vector &amp;yp, Vector &amp;gout) const</arglist>
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      <arglist>(const Vector &amp;y, Vector &amp;weights) const</arglist>
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      <arglist>(int error_code, const char *module, const char *function, char *msg) const</arglist>
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      <type>virtual void</type>
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      <anchorfile>classSimTK_1_1DecorationGenerator.html</anchorfile>
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      <arglist>(const State &amp;state, Array_&lt; DecorativeGeometry &gt; &amp;geometry)=0</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
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      <arglist>()</arglist>
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      <type></type>
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      <arglist>()</arglist>
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      <arglist>(const DecorativeGeometry &amp;decoration)</arglist>
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      <name>addDecoration</name>
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      <arglist>(const DecorativeGeometry &amp;decoration)</arglist>
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      <arglist>(const Transform &amp;placement, const DecorativeGeometry &amp;decoration)</arglist>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>const DecorativeGeometry &amp;</type>
      <name>getDecoration</name>
      <anchorfile>classSimTK_1_1Decorations.html</anchorfile>
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      <arglist>(int i) const</arglist>
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    <member kind="function">
      <type>Decorations &amp;</type>
      <name>setBodyId</name>
      <anchorfile>classSimTK_1_1Decorations.html</anchorfile>
      <anchor>aba3cf2f1832f7befd3629f78bd2718a9</anchor>
      <arglist>(int b)</arglist>
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    <member kind="function">
      <type>Decorations &amp;</type>
      <name>setIndexOnBody</name>
      <anchorfile>classSimTK_1_1Decorations.html</anchorfile>
      <anchor>a1971e8c7e544d5111652c4f9f5236953</anchor>
      <arglist>(int x)</arglist>
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    <member kind="function">
      <type>Decorations &amp;</type>
      <name>setUserRef</name>
      <anchorfile>classSimTK_1_1Decorations.html</anchorfile>
      <anchor>a428dff7e2bd46dfd38a99b7c7ebc386d</anchor>
      <arglist>(void *p)</arglist>
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    <member kind="function">
      <type>Decorations &amp;</type>
      <name>setTransform</name>
      <anchorfile>classSimTK_1_1Decorations.html</anchorfile>
      <anchor>a009a10880f470873a014ddf434148730</anchor>
      <arglist>(const Transform &amp;X_BD)</arglist>
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    <member kind="function">
      <type>Decorations &amp;</type>
      <name>setResolution</name>
      <anchorfile>classSimTK_1_1Decorations.html</anchorfile>
      <anchor>aea291ac36534a9badd452aa9f9fa3428</anchor>
      <arglist>(Real r)</arglist>
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    <member kind="function">
      <type>Decorations &amp;</type>
      <name>setScaleFactors</name>
      <anchorfile>classSimTK_1_1Decorations.html</anchorfile>
      <anchor>a220f03ac8111f9563b18512b14636528</anchor>
      <arglist>(const Vec3 &amp;s)</arglist>
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    <member kind="function">
      <type>Decorations &amp;</type>
      <name>setColor</name>
      <anchorfile>classSimTK_1_1Decorations.html</anchorfile>
      <anchor>a064fc2bb0246fcaa89c3b1d15e78ca29</anchor>
      <arglist>(const Vec3 &amp;rgb)</arglist>
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    <member kind="function">
      <type>Decorations &amp;</type>
      <name>setOpacity</name>
      <anchorfile>classSimTK_1_1Decorations.html</anchorfile>
      <anchor>a989fea666ec20137336d4df4b10138f3</anchor>
      <arglist>(Real o)</arglist>
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    <member kind="function">
      <type>Decorations &amp;</type>
      <name>setLineThickness</name>
      <anchorfile>classSimTK_1_1Decorations.html</anchorfile>
      <anchor>a0ab0c2e0b927695ab53e7731d181c4f5</anchor>
      <arglist>(Real t)</arglist>
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    <member kind="function">
      <type>Decorations &amp;</type>
      <name>setRepresentation</name>
      <anchorfile>classSimTK_1_1Decorations.html</anchorfile>
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      <arglist>(const Representation &amp;r)</arglist>
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      <type></type>
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      <anchorfile>classSimTK_1_1Decorations.html</anchorfile>
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      <arglist>(Decorations, DecorativeGeometry)</arglist>
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  <compound kind="class">
    <name>SimTK::DecorationSubsystem</name>
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    <base>SimTK::Subsystem</base>
    <member kind="function">
      <type></type>
      <name>DecorationSubsystem</name>
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      <anchor>a3a942d63a6ffd070e72101b7aa17b4e6</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>DecorationSubsystem</name>
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      <anchor>ab6a4a9a5e86d7a1fd008b163b4f91888</anchor>
      <arglist>(MultibodySystem &amp;)</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classSimTK_1_1DecorationSubsystem.html</anchorfile>
      <anchor>a00214b2de1e94765f5a048ed8ccf1d5c</anchor>
      <arglist>(MobilizedBodyIndex bodyNum, const Transform &amp;X_GD, const DecorativeGeometry &amp;)</arglist>
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    <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>
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    <member kind="function">
      <type>void</type>
      <name>addDecorationGenerator</name>
      <anchorfile>classSimTK_1_1DecorationSubsystem.html</anchorfile>
      <anchor>a430c978723a305b9ad3de67355c5bd03</anchor>
      <arglist>(Stage stage, DecorationGenerator *generator)</arglist>
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    <member kind="function">
      <type></type>
      <name>SimTK_PIMPL_DOWNCAST</name>
      <anchorfile>classSimTK_1_1DecorationSubsystem.html</anchorfile>
      <anchor>a60404e8e862c22962b5d295c0ccbacda</anchor>
      <arglist>(DecorationSubsystem, Subsystem)</arglist>
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    <member kind="function">
      <type>class DecorationSubsystemGuts &amp;</type>
      <name>updGuts</name>
      <anchorfile>classSimTK_1_1DecorationSubsystem.html</anchorfile>
      <anchor>ab7006de0c44569a3a9bd3e7d0c5c2c2d</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>const DecorationSubsystemGuts &amp;</type>
      <name>getGuts</name>
      <anchorfile>classSimTK_1_1DecorationSubsystem.html</anchorfile>
      <anchor>a6dbf099481c895d6180cdc2f8960d92f</anchor>
      <arglist>() const</arglist>
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    <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>
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    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getStartPoint</name>
      <anchorfile>classSimTK_1_1DecorativeArrow.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>const Vec3 &amp;</type>
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      <anchorfile>classSimTK_1_1DecorativeArrow.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>const Real &amp;</type>
      <name>getTipLength</name>
      <anchorfile>classSimTK_1_1DecorativeArrow.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>DecorativeArrow &amp;</type>
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      <anchorfile>classSimTK_1_1DecorativeArrow.html</anchorfile>
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      <arglist>(const Vec3 &amp;start)</arglist>
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      <type>DecorativeArrow &amp;</type>
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      <anchorfile>classSimTK_1_1DecorativeArrow.html</anchorfile>
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      <arglist>(const Vec3 &amp;end)</arglist>
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      <type>DecorativeArrow &amp;</type>
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      <anchorfile>classSimTK_1_1DecorativeArrow.html</anchorfile>
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      <arglist>(Real)</arglist>
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    <member kind="function">
      <type>DecorativeArrow &amp;</type>
      <name>setBodyId</name>
      <anchorfile>classSimTK_1_1DecorativeArrow.html</anchorfile>
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      <arglist>(int b)</arglist>
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    <member kind="function">
      <type>DecorativeArrow &amp;</type>
      <name>setIndexOnBody</name>
      <anchorfile>classSimTK_1_1DecorativeArrow.html</anchorfile>
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      <arglist>(int x)</arglist>
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    <member kind="function">
      <type>DecorativeArrow &amp;</type>
      <name>setUserRef</name>
      <anchorfile>classSimTK_1_1DecorativeArrow.html</anchorfile>
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      <arglist>(void *p)</arglist>
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    <member kind="function">
      <type>DecorativeArrow &amp;</type>
      <name>setTransform</name>
      <anchorfile>classSimTK_1_1DecorativeArrow.html</anchorfile>
      <anchor>a9c9015627017f5a99af6297e5c00fe0a</anchor>
      <arglist>(const Transform &amp;X_BD)</arglist>
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    <member kind="function">
      <type>DecorativeArrow &amp;</type>
      <name>setResolution</name>
      <anchorfile>classSimTK_1_1DecorativeArrow.html</anchorfile>
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      <arglist>(Real r)</arglist>
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    <member kind="function">
      <type>DecorativeArrow &amp;</type>
      <name>setScaleFactors</name>
      <anchorfile>classSimTK_1_1DecorativeArrow.html</anchorfile>
      <anchor>acdb3624de34b47abe9a7918e097a853a</anchor>
      <arglist>(const Vec3 &amp;s)</arglist>
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    <member kind="function">
      <type>DecorativeArrow &amp;</type>
      <name>setColor</name>
      <anchorfile>classSimTK_1_1DecorativeArrow.html</anchorfile>
      <anchor>a0e2eee4088e8c98ed59b9426e88b3a33</anchor>
      <arglist>(const Vec3 &amp;rgb)</arglist>
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    <member kind="function">
      <type>DecorativeArrow &amp;</type>
      <name>setOpacity</name>
      <anchorfile>classSimTK_1_1DecorativeArrow.html</anchorfile>
      <anchor>ab155e62f46917cf2b57138113095f152</anchor>
      <arglist>(Real o)</arglist>
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    <member kind="function">
      <type>DecorativeArrow &amp;</type>
      <name>setLineThickness</name>
      <anchorfile>classSimTK_1_1DecorativeArrow.html</anchorfile>
      <anchor>a935894d5f7d38aa8b928906f7fa2fa68</anchor>
      <arglist>(Real t)</arglist>
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    <member kind="function">
      <type>DecorativeArrow &amp;</type>
      <name>setRepresentation</name>
      <anchorfile>classSimTK_1_1DecorativeArrow.html</anchorfile>
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      <arglist>(const Representation &amp;r)</arglist>
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      <type></type>
      <name>SimTK_PIMPL_DOWNCAST</name>
      <anchorfile>classSimTK_1_1DecorativeArrow.html</anchorfile>
      <anchor>a33ce1c089adbd2aba8a3775fd7b01a48</anchor>
      <arglist>(DecorativeArrow, DecorativeGeometry)</arglist>
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  <compound kind="class">
    <name>SimTK::DecorativeBrick</name>
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    <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>
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      <type>DecorativeBrick &amp;</type>
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      <anchorfile>classSimTK_1_1DecorativeBrick.html</anchorfile>
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      <arglist>(const Vec3 &amp;)</arglist>
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    <member kind="function">
      <type>const Vec3 &amp;</type>
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      <anchorfile>classSimTK_1_1DecorativeBrick.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>DecorativeBrick &amp;</type>
      <name>setBodyId</name>
      <anchorfile>classSimTK_1_1DecorativeBrick.html</anchorfile>
      <anchor>ac07e44d4dfe38e4d876b17d8c779d923</anchor>
      <arglist>(int b)</arglist>
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    <member kind="function">
      <type>DecorativeBrick &amp;</type>
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      <anchorfile>classSimTK_1_1DecorativeBrick.html</anchorfile>
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      <arglist>(int x)</arglist>
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    <member kind="function">
      <type>DecorativeBrick &amp;</type>
      <name>setUserRef</name>
      <anchorfile>classSimTK_1_1DecorativeBrick.html</anchorfile>
      <anchor>aecdac34661617a45293b881cebed1b31</anchor>
      <arglist>(void *p)</arglist>
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    <member kind="function">
      <type>DecorativeBrick &amp;</type>
      <name>setTransform</name>
      <anchorfile>classSimTK_1_1DecorativeBrick.html</anchorfile>
      <anchor>a120dcdcdf5f1fd484f0716899bc4721d</anchor>
      <arglist>(const Transform &amp;X_BD)</arglist>
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    <member kind="function">
      <type>DecorativeBrick &amp;</type>
      <name>setResolution</name>
      <anchorfile>classSimTK_1_1DecorativeBrick.html</anchorfile>
      <anchor>a8f9e7425a211066c024ebe7b9658d839</anchor>
      <arglist>(Real r)</arglist>
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    <member kind="function">
      <type>DecorativeBrick &amp;</type>
      <name>setScaleFactors</name>
      <anchorfile>classSimTK_1_1DecorativeBrick.html</anchorfile>
      <anchor>a7beafd4514a0f451155ed239cc0cb039</anchor>
      <arglist>(const Vec3 &amp;s)</arglist>
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    <member kind="function">
      <type>DecorativeBrick &amp;</type>
      <name>setColor</name>
      <anchorfile>classSimTK_1_1DecorativeBrick.html</anchorfile>
      <anchor>ace515715ad9fbc246ed324f337d2d6c2</anchor>
      <arglist>(const Vec3 &amp;rgb)</arglist>
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    <member kind="function">
      <type>DecorativeBrick &amp;</type>
      <name>setOpacity</name>
      <anchorfile>classSimTK_1_1DecorativeBrick.html</anchorfile>
      <anchor>aff57a64477ce4720234829a7a4647f8f</anchor>
      <arglist>(Real o)</arglist>
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    <member kind="function">
      <type>DecorativeBrick &amp;</type>
      <name>setLineThickness</name>
      <anchorfile>classSimTK_1_1DecorativeBrick.html</anchorfile>
      <anchor>a380863a7014970a6d8f342ef3100880b</anchor>
      <arglist>(Real t)</arglist>
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    <member kind="function">
      <type>DecorativeBrick &amp;</type>
      <name>setRepresentation</name>
      <anchorfile>classSimTK_1_1DecorativeBrick.html</anchorfile>
      <anchor>ae0bc4d3ae674e72373453fa51799d795</anchor>
      <arglist>(const Representation &amp;r)</arglist>
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    <member kind="function">
      <type></type>
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      <anchorfile>classSimTK_1_1DecorativeBrick.html</anchorfile>
      <anchor>a993781de21c8ba3452a6944330b9e27d</anchor>
      <arglist>(DecorativeBrick, DecorativeGeometry)</arglist>
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  <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>
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    <member kind="function">
      <type>DecorativeCircle &amp;</type>
      <name>setRadius</name>
      <anchorfile>classSimTK_1_1DecorativeCircle.html</anchorfile>
      <anchor>ac7c416d017597ce09dd11df9a92d9650</anchor>
      <arglist>(Real)</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getRadius</name>
      <anchorfile>classSimTK_1_1DecorativeCircle.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>DecorativeCircle &amp;</type>
      <name>setBodyId</name>
      <anchorfile>classSimTK_1_1DecorativeCircle.html</anchorfile>
      <anchor>aac0d4214f7b1d4582abd5a311820b04a</anchor>
      <arglist>(int b)</arglist>
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    <member kind="function">
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      <name>setIndexOnBody</name>
      <anchorfile>classSimTK_1_1DecorativeCircle.html</anchorfile>
      <anchor>a0c7eb11f1b0e68339908567d7d5a7850</anchor>
      <arglist>(int x)</arglist>
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    <member kind="function">
      <type>DecorativeCircle &amp;</type>
      <name>setUserRef</name>
      <anchorfile>classSimTK_1_1DecorativeCircle.html</anchorfile>
      <anchor>a1ed5a3d900cd5240751e17a477e874d8</anchor>
      <arglist>(void *p)</arglist>
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    <member kind="function">
      <type>DecorativeCircle &amp;</type>
      <name>setTransform</name>
      <anchorfile>classSimTK_1_1DecorativeCircle.html</anchorfile>
      <anchor>a990038f199133b5e6ef03ca192d99aa0</anchor>
      <arglist>(const Transform &amp;X_BD)</arglist>
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    <member kind="function">
      <type>DecorativeCircle &amp;</type>
      <name>setResolution</name>
      <anchorfile>classSimTK_1_1DecorativeCircle.html</anchorfile>
      <anchor>afcc804dfc3fa147965b4f68a83c85241</anchor>
      <arglist>(Real r)</arglist>
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    <member kind="function">
      <type>DecorativeCircle &amp;</type>
      <name>setScaleFactors</name>
      <anchorfile>classSimTK_1_1DecorativeCircle.html</anchorfile>
      <anchor>a7645683a960b9eea0f69cebda5adcc8d</anchor>
      <arglist>(const Vec3 &amp;s)</arglist>
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    <member kind="function">
      <type>DecorativeCircle &amp;</type>
      <name>setColor</name>
      <anchorfile>classSimTK_1_1DecorativeCircle.html</anchorfile>
      <anchor>a8442d487108a4932fdd08026470542f4</anchor>
      <arglist>(const Vec3 &amp;rgb)</arglist>
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    <member kind="function">
      <type>DecorativeCircle &amp;</type>
      <name>setOpacity</name>
      <anchorfile>classSimTK_1_1DecorativeCircle.html</anchorfile>
      <anchor>a595937fa4a92646b80721c6f961c2d6b</anchor>
      <arglist>(Real o)</arglist>
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    <member kind="function">
      <type>DecorativeCircle &amp;</type>
      <name>setLineThickness</name>
      <anchorfile>classSimTK_1_1DecorativeCircle.html</anchorfile>
      <anchor>a2da43d9f1ab64c7c1faaecc2fc2d7f84</anchor>
      <arglist>(Real t)</arglist>
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    <member kind="function">
      <type>DecorativeCircle &amp;</type>
      <name>setRepresentation</name>
      <anchorfile>classSimTK_1_1DecorativeCircle.html</anchorfile>
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      <arglist>(const Representation &amp;r)</arglist>
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      <type></type>
      <name>SimTK_PIMPL_DOWNCAST</name>
      <anchorfile>classSimTK_1_1DecorativeCircle.html</anchorfile>
      <anchor>adbf92317612200ad445bea49f4caaaa2</anchor>
      <arglist>(DecorativeCircle, DecorativeGeometry)</arglist>
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    <base>SimTK::DecorativeGeometry</base>
    <member kind="function">
      <type></type>
      <name>DecorativeCone</name>
      <anchorfile>classSimTK_1_1DecorativeCone.html</anchorfile>
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      <arglist>(const Vec3 &amp;p1=Vec3(0), const UnitVec3 &amp;dir=UnitVec3(1, 1, 1), Real height=1.0, Real baseRadius=0.5)</arglist>
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    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getOrigin</name>
      <anchorfile>classSimTK_1_1DecorativeCone.html</anchorfile>
      <anchor>a441e9721ce4c1c8a9ee445acd054c10b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const UnitVec3 &amp;</type>
      <name>getDirection</name>
      <anchorfile>classSimTK_1_1DecorativeCone.html</anchorfile>
      <anchor>a349c0a703c04d49a007c7bae745c2e8a</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>const Real &amp;</type>
      <name>getHeight</name>
      <anchorfile>classSimTK_1_1DecorativeCone.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>const Real &amp;</type>
      <name>getBaseRadius</name>
      <anchorfile>classSimTK_1_1DecorativeCone.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>DecorativeCone &amp;</type>
      <name>setOrigin</name>
      <anchorfile>classSimTK_1_1DecorativeCone.html</anchorfile>
      <anchor>a808451be9deaa0fa1bee5be16884f1e4</anchor>
      <arglist>(const Vec3 &amp;origin)</arglist>
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    <member kind="function">
      <type>DecorativeCone &amp;</type>
      <name>setDirection</name>
      <anchorfile>classSimTK_1_1DecorativeCone.html</anchorfile>
      <anchor>a55f2861614f5d92c1db841a58da2e2f8</anchor>
      <arglist>(const UnitVec3 &amp;direction)</arglist>
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    <member kind="function">
      <type>DecorativeCone &amp;</type>
      <name>setHeight</name>
      <anchorfile>classSimTK_1_1DecorativeCone.html</anchorfile>
      <anchor>a7661b79c300187906fa2a04419e7b753</anchor>
      <arglist>(Real length)</arglist>
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    <member kind="function">
      <type>DecorativeCone &amp;</type>
      <name>setBaseRadius</name>
      <anchorfile>classSimTK_1_1DecorativeCone.html</anchorfile>
      <anchor>a1ed658894c2e976aa9d1eb11f93c7526</anchor>
      <arglist>(Real base)</arglist>
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    <member kind="function">
      <type>DecorativeCone &amp;</type>
      <name>setBodyId</name>
      <anchorfile>classSimTK_1_1DecorativeCone.html</anchorfile>
      <anchor>a0c4740ecacab667ffda848ee95f88482</anchor>
      <arglist>(int b)</arglist>
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    <member kind="function">
      <type>DecorativeCone &amp;</type>
      <name>setIndexOnBody</name>
      <anchorfile>classSimTK_1_1DecorativeCone.html</anchorfile>
      <anchor>aea68b775a7e3d18ab2c1050d6dc62560</anchor>
      <arglist>(int x)</arglist>
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    <member kind="function">
      <type>DecorativeCone &amp;</type>
      <name>setUserRef</name>
      <anchorfile>classSimTK_1_1DecorativeCone.html</anchorfile>
      <anchor>a5dc8724e5e391173bc51e7eb951f886e</anchor>
      <arglist>(void *p)</arglist>
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    <member kind="function">
      <type>DecorativeCone &amp;</type>
      <name>setTransform</name>
      <anchorfile>classSimTK_1_1DecorativeCone.html</anchorfile>
      <anchor>ab38a2bb2b4e195f8517397a8c4873048</anchor>
      <arglist>(const Transform &amp;X_BD)</arglist>
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    <member kind="function">
      <type>DecorativeCone &amp;</type>
      <name>setResolution</name>
      <anchorfile>classSimTK_1_1DecorativeCone.html</anchorfile>
      <anchor>a78e4a2717c99a6ac91361a934d10cb53</anchor>
      <arglist>(Real r)</arglist>
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    <member kind="function">
      <type>DecorativeCone &amp;</type>
      <name>setScaleFactors</name>
      <anchorfile>classSimTK_1_1DecorativeCone.html</anchorfile>
      <anchor>a246ba47220aa215622e88b9d17acd6ec</anchor>
      <arglist>(const Vec3 &amp;s)</arglist>
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    <member kind="function">
      <type>DecorativeCone &amp;</type>
      <name>setColor</name>
      <anchorfile>classSimTK_1_1DecorativeCone.html</anchorfile>
      <anchor>ae9f5289b36d4c842479f88f5f9e1249e</anchor>
      <arglist>(const Vec3 &amp;rgb)</arglist>
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    <member kind="function">
      <type>DecorativeCone &amp;</type>
      <name>setOpacity</name>
      <anchorfile>classSimTK_1_1DecorativeCone.html</anchorfile>
      <anchor>a2b8324a6798f70010bb4850aa0dc4a35</anchor>
      <arglist>(Real o)</arglist>
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    <member kind="function">
      <type>DecorativeCone &amp;</type>
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      <anchorfile>classSimTK_1_1DecorativeCone.html</anchorfile>
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      <arglist>(Real t)</arglist>
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    <member kind="function">
      <type>DecorativeCone &amp;</type>
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      <anchorfile>classSimTK_1_1DecorativeCone.html</anchorfile>
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      <arglist>(const Representation &amp;r)</arglist>
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      <anchorfile>classSimTK_1_1DecorativeCone.html</anchorfile>
      <anchor>a8429c1008939a5292d26b322de6fed26</anchor>
      <arglist>(DecorativeCone, DecorativeGeometry)</arglist>
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    <member kind="function">
      <type></type>
      <name>DecorativeCylinder</name>
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      <arglist>(Real radius=0.5, Real halfHeight=0.5)</arglist>
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    <member kind="function">
      <type>DecorativeCylinder &amp;</type>
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      <anchorfile>classSimTK_1_1DecorativeCylinder.html</anchorfile>
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      <arglist>(Real)</arglist>
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    <member kind="function">
      <type>DecorativeCylinder &amp;</type>
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      <anchorfile>classSimTK_1_1DecorativeCylinder.html</anchorfile>
      <anchor>a4c3ef9f1f841e501ae1e340dc02a9cde</anchor>
      <arglist>(Real)</arglist>
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      <type>Real</type>
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      <anchorfile>classSimTK_1_1DecorativeCylinder.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>Real</type>
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      <anchorfile>classSimTK_1_1DecorativeCylinder.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>DecorativeCylinder &amp;</type>
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      <anchorfile>classSimTK_1_1DecorativeCylinder.html</anchorfile>
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      <arglist>(int b)</arglist>
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    <member kind="function">
      <type>DecorativeCylinder &amp;</type>
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      <anchorfile>classSimTK_1_1DecorativeCylinder.html</anchorfile>
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      <arglist>(int x)</arglist>
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      <type>DecorativeCylinder &amp;</type>
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      <anchorfile>classSimTK_1_1DecorativeCylinder.html</anchorfile>
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      <arglist>(void *p)</arglist>
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      <type>DecorativeCylinder &amp;</type>
      <name>setTransform</name>
      <anchorfile>classSimTK_1_1DecorativeCylinder.html</anchorfile>
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      <arglist>(const Transform &amp;X_BD)</arglist>
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    <member kind="function">
      <type>DecorativeCylinder &amp;</type>
      <name>setResolution</name>
      <anchorfile>classSimTK_1_1DecorativeCylinder.html</anchorfile>
      <anchor>a119ae38a1f86dd16035896ce8ad8ca04</anchor>
      <arglist>(Real r)</arglist>
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    <member kind="function">
      <type>DecorativeCylinder &amp;</type>
      <name>setScaleFactors</name>
      <anchorfile>classSimTK_1_1DecorativeCylinder.html</anchorfile>
      <anchor>a61fff61901cd8931fd551fd3c44ad751</anchor>
      <arglist>(const Vec3 &amp;s)</arglist>
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    <member kind="function">
      <type>DecorativeCylinder &amp;</type>
      <name>setColor</name>
      <anchorfile>classSimTK_1_1DecorativeCylinder.html</anchorfile>
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      <arglist>(const Vec3 &amp;rgb)</arglist>
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    <member kind="function">
      <type>DecorativeCylinder &amp;</type>
      <name>setOpacity</name>
      <anchorfile>classSimTK_1_1DecorativeCylinder.html</anchorfile>
      <anchor>a9a85ae352b59da0f9b55a20f2a4ef2b7</anchor>
      <arglist>(Real o)</arglist>
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      <type>DecorativeCylinder &amp;</type>
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      <anchorfile>classSimTK_1_1DecorativeCylinder.html</anchorfile>
      <anchor>a37f40f5a2f3a40215346e4a00bc846d8</anchor>
      <arglist>(Real t)</arglist>
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    <member kind="function">
      <type>DecorativeCylinder &amp;</type>
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      <anchorfile>classSimTK_1_1DecorativeCylinder.html</anchorfile>
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      <arglist>(const Representation &amp;r)</arglist>
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      <anchorfile>classSimTK_1_1DecorativeCylinder.html</anchorfile>
      <anchor>ab53bbeb13880e53d31c0e8588bcc1803</anchor>
      <arglist>(DecorativeCylinder, DecorativeGeometry)</arglist>
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    <name>SimTK::DecorativeEllipsoid</name>
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    <base>SimTK::DecorativeGeometry</base>
    <member kind="function">
      <type></type>
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      <anchorfile>classSimTK_1_1DecorativeEllipsoid.html</anchorfile>
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      <arglist>(const Vec3 &amp;radii=Vec3(Real(0.5), Real(1/3.), Real(0.25)))</arglist>
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      <anchorfile>classSimTK_1_1DecorativeEllipsoid.html</anchorfile>
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      <arglist>(const Vec3 &amp;)</arglist>
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      <anchorfile>classSimTK_1_1DecorativeEllipsoid.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>DecorativeEllipsoid &amp;</type>
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      <anchorfile>classSimTK_1_1DecorativeEllipsoid.html</anchorfile>
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      <arglist>(int b)</arglist>
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      <arglist>(int x)</arglist>
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      <name>setUserRef</name>
      <anchorfile>classSimTK_1_1DecorativeEllipsoid.html</anchorfile>
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      <arglist>(void *p)</arglist>
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    <member kind="function">
      <type>DecorativeEllipsoid &amp;</type>
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      <arglist>(const Transform &amp;X_BD)</arglist>
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    <member kind="function">
      <type>DecorativeEllipsoid &amp;</type>
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      <anchorfile>classSimTK_1_1DecorativeEllipsoid.html</anchorfile>
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      <arglist>(Real r)</arglist>
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      <type>DecorativeEllipsoid &amp;</type>
      <name>setScaleFactors</name>
      <anchorfile>classSimTK_1_1DecorativeEllipsoid.html</anchorfile>
      <anchor>ac4bde0f444da92d2eff3578e696ec7d7</anchor>
      <arglist>(const Vec3 &amp;s)</arglist>
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    <member kind="function">
      <type>DecorativeEllipsoid &amp;</type>
      <name>setColor</name>
      <anchorfile>classSimTK_1_1DecorativeEllipsoid.html</anchorfile>
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      <arglist>(const Vec3 &amp;rgb)</arglist>
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    <member kind="function">
      <type>DecorativeEllipsoid &amp;</type>
      <name>setOpacity</name>
      <anchorfile>classSimTK_1_1DecorativeEllipsoid.html</anchorfile>
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      <arglist>(Real o)</arglist>
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      <type>DecorativeEllipsoid &amp;</type>
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      <arglist>(Real t)</arglist>
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    <member kind="function">
      <type>DecorativeEllipsoid &amp;</type>
      <name>setRepresentation</name>
      <anchorfile>classSimTK_1_1DecorativeEllipsoid.html</anchorfile>
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      <arglist>(const Representation &amp;r)</arglist>
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      <arglist>(DecorativeEllipsoid, DecorativeGeometry)</arglist>
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    <name>SimTK::DecorativeFrame</name>
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    <base>SimTK::DecorativeGeometry</base>
    <member kind="function">
      <type></type>
      <name>DecorativeFrame</name>
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      <arglist>(Real axisLength=1)</arglist>
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    <member kind="function">
      <type>DecorativeFrame &amp;</type>
      <name>setAxisLength</name>
      <anchorfile>classSimTK_1_1DecorativeFrame.html</anchorfile>
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      <arglist>(Real)</arglist>
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      <type>Real</type>
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      <anchorfile>classSimTK_1_1DecorativeFrame.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>DecorativeFrame &amp;</type>
      <name>setBodyId</name>
      <anchorfile>classSimTK_1_1DecorativeFrame.html</anchorfile>
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      <arglist>(int b)</arglist>
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    <member kind="function">
      <type>DecorativeFrame &amp;</type>
      <name>setIndexOnBody</name>
      <anchorfile>classSimTK_1_1DecorativeFrame.html</anchorfile>
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      <arglist>(int x)</arglist>
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      <type>DecorativeFrame &amp;</type>
      <name>setUserRef</name>
      <anchorfile>classSimTK_1_1DecorativeFrame.html</anchorfile>
      <anchor>a7ad73ace641886853d9ed471c2ba1b66</anchor>
      <arglist>(void *p)</arglist>
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    <member kind="function">
      <type>DecorativeFrame &amp;</type>
      <name>setTransform</name>
      <anchorfile>classSimTK_1_1DecorativeFrame.html</anchorfile>
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      <arglist>(const Transform &amp;X_BD)</arglist>
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      <type>DecorativeFrame &amp;</type>
      <name>setResolution</name>
      <anchorfile>classSimTK_1_1DecorativeFrame.html</anchorfile>
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      <arglist>(Real r)</arglist>
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      <arglist>(Real scale)</arglist>
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      <arglist>(Real)</arglist>
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      <arglist>(Real r)</arglist>
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      <arglist>(Real o)</arglist>
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      <arglist>(Real r)</arglist>
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      <arglist>(Real o)</arglist>
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      <arglist>(Real r)</arglist>
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      <arglist>(Real o)</arglist>
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      <arglist>(Real r)</arglist>
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      <arglist>(const Vec3 &amp;rgb)</arglist>
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      <arglist>(Real o)</arglist>
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      <arglist>(DecorativePoint, DecorativeGeometry)</arglist>
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      <arglist>(Real r)</arglist>
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      <arglist>(Real o)</arglist>
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      <arglist>(Real t)</arglist>
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      <arglist>(Real r)</arglist>
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      <arglist>(const State &amp;state) 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 defaultTransitionSpeed, Real slipSpeed) const override</arglist>
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      <anchorfile>classSimTK_1_1EdgeEdgeContact.html</anchorfile>
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      <arglist>(const State &amp;s) const override</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>(const Eigen &amp;c)</arglist>
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      <arglist>(const Eigen &amp;rhs)</arglist>
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      <arglist>(const Matrix_&lt; ELT &gt; &amp;m)</arglist>
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      <arglist>(Vector_&lt; VAL &gt; &amp;values, Matrix_&lt; VEC &gt; &amp;vectors)</arglist>
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      <arglist>(Vector_&lt; T &gt; &amp;values)</arglist>
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      <arglist>(Vector_&lt; VAL &gt; &amp;values, Matrix_&lt; VEC &gt; &amp;vectors, int ilow, int ihi)</arglist>
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      <anchorfile>classSimTK_1_1Eigen.html</anchorfile>
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      <arglist>(Matrix_&lt; T &gt; &amp;vectors, int ilow, int ihi)</arglist>
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      <anchorfile>classSimTK_1_1Eigen.html</anchorfile>
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      <arglist>(Vector_&lt; T &gt; &amp;values, int ilow, int ihi)</arglist>
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      <arglist>(Vector_&lt; VAL &gt; &amp;values, Matrix_&lt; VEC &gt; &amp;vectors, typename CNT&lt; VAL &gt;::TReal rlow, typename CNT&lt; VAL &gt;::TReal rhi)</arglist>
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      <anchorfile>classSimTK_1_1Eigen.html</anchorfile>
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      <arglist>(Matrix_&lt; T &gt; &amp;vectors, typename CNT&lt; T &gt;::TReal rlow, typename CNT&lt; T &gt;::TReal rhi)</arglist>
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    <member kind="function">
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      <anchorfile>classSimTK_1_1Eigen.html</anchorfile>
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      <arglist>(Vector_&lt; T &gt; &amp;values, typename CNT&lt; T &gt;::TReal rlow, typename CNT&lt; T &gt;::TReal rhi)</arglist>
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      <arglist></arglist>
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      <arglist>(GeneralForceSubsystem &amp;forces, GeneralContactSubsystem &amp;contacts, ContactSetIndex contactSet)</arglist>
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      <arglist>(ContactSurfaceIndex surfIndex, Real stiffness, Real dissipation, Real staticFriction, Real dynamicFriction, Real viscousFriction)</arglist>
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      <arglist>(Real v)</arglist>
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      <arglist>(ContactSurfaceIndex surf1, ContactSurfaceIndex surf2, const Transform &amp;X_S1S2, const Transform &amp;X_S1C, const Vec2 &amp;k, Real depth)</arglist>
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    <member kind="function">
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <type>Real</type>
      <name>getDepth</name>
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      <arglist>() const</arglist>
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      <arglist>(const Contact &amp;contact)</arglist>
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      <arglist>(const Contact &amp;contact)</arglist>
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      <arglist>(Contact &amp;contact)</arglist>
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      <arglist>()</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></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 Matrix_&lt; ELT &gt; &amp;m, double rcond)</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>(Vector_&lt; T &gt; &amp;values)</arglist>
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      <arglist>()</arglist>
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      <arglist>(Matrix_&lt; ELT &gt; &amp;m)</arglist>
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      <arglist>(const Vector_&lt; ELT &gt; &amp;b, Vector_&lt; ELT &gt; &amp;x)</arglist>
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      <arglist></arglist>
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      <arglist>(const State &amp;state, Vector_&lt; SpatialVec &gt; &amp;bodyForces, Vector_&lt; Vec3 &gt; &amp;particleForces, Vector &amp;mobilityForces) const</arglist>
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      <arglist>(ForceImpl *r)</arglist>
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  <compound kind="class">
    <name>SimTK::Force::ConstantForce</name>
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    <base>SimTK::Force</base>
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      <type></type>
      <name>ConstantForce</name>
      <anchorfile>classSimTK_1_1Force_1_1ConstantForce.html</anchorfile>
      <anchor>a78538f864aa7b1cc2e930079f2460cf4</anchor>
      <arglist>(GeneralForceSubsystem &amp;forces, const MobilizedBody &amp;body, const Vec3 &amp;station, const Vec3 &amp;force)</arglist>
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      <name>ConstantForce</name>
      <anchorfile>classSimTK_1_1Force_1_1ConstantForce.html</anchorfile>
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      <arglist>()</arglist>
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      <anchorfile>classSimTK_1_1Force_1_1ConstantForce.html</anchorfile>
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      <arglist>(ConstantForce, ConstantForceImpl, Force)</arglist>
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  <compound kind="class">
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    <filename>classSimTK_1_1Force_1_1ConstantTorque.html</filename>
    <base>SimTK::Force</base>
    <member kind="function">
      <type></type>
      <name>ConstantTorque</name>
      <anchorfile>classSimTK_1_1Force_1_1ConstantTorque.html</anchorfile>
      <anchor>a7c10a7dbe738935e2835bbc05bf5b4c6</anchor>
      <arglist>(GeneralForceSubsystem &amp;forces, const MobilizedBody &amp;body, const Vec3 &amp;torque)</arglist>
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    <member kind="function">
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      <arglist>()</arglist>
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      <anchorfile>classSimTK_1_1Force_1_1ConstantTorque.html</anchorfile>
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      <arglist>(ConstantTorque, ConstantTorqueImpl, Force)</arglist>
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      <anchorfile>classSimTK_1_1Force_1_1Custom.html</anchorfile>
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      <arglist>(GeneralForceSubsystem &amp;forces, Implementation *implementation)</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>()</arglist>
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      <arglist>(const State &amp;state, Vector_&lt; SpatialVec &gt; &amp;bodyForces, Vector_&lt; Vec3 &gt; &amp;particleForces, Vector &amp;mobilityForces) const =0</arglist>
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      <type>virtual Real</type>
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      <arglist>(const State &amp;state) const =0</arglist>
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      <arglist>() const</arglist>
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      <arglist>() 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) 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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      <arglist>(const State &amp;state) 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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      <arglist>(const State &amp;state) const</arglist>
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      <arglist>(const State &amp;state, Stage stage, Array_&lt; DecorativeGeometry &gt; &amp;geometry) const</arglist>
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      <arglist>(GeneralForceSubsystem &amp;forces, const SimbodyMatterSubsystem &amp;matter)</arglist>
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      <name>DiscreteForces</name>
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      <arglist>()</arglist>
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      <anchorfile>classSimTK_1_1Force_1_1DiscreteForces.html</anchorfile>
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      <arglist>(State &amp;state) const</arglist>
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      <arglist>(State &amp;state) const</arglist>
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      <anchorfile>classSimTK_1_1Force_1_1DiscreteForces.html</anchorfile>
      <anchor>a50cc1f48565f88e212cee49b3cfe9e16</anchor>
      <arglist>(State &amp;state) const</arglist>
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      <anchorfile>classSimTK_1_1Force_1_1DiscreteForces.html</anchorfile>
      <anchor>a8eb8f7a66610230c02df56724cb6fd80</anchor>
      <arglist>(State &amp;state, const MobilizedBody &amp;mobod, MobilizerUIndex whichU, Real force) const</arglist>
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      <anchorfile>classSimTK_1_1Force_1_1DiscreteForces.html</anchorfile>
      <anchor>a40fd979ac3355330aa9676c90c69c993</anchor>
      <arglist>(State &amp;state, const MobilizedBody &amp;mobod, const SpatialVec &amp;spatialForceInG) const</arglist>
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      <anchorfile>classSimTK_1_1Force_1_1DiscreteForces.html</anchorfile>
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      <arglist>(State &amp;state, const MobilizedBody &amp;mobod, const Vec3 &amp;pointInB, const Vec3 &amp;forceInG) const</arglist>
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      <anchorfile>classSimTK_1_1Force_1_1DiscreteForces.html</anchorfile>
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      <arglist>(State &amp;state, const Vector &amp;f) const</arglist>
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      <anchorfile>classSimTK_1_1Force_1_1DiscreteForces.html</anchorfile>
      <anchor>aa3d5c2c59c5100e72f7a7e0deb1dc1d0</anchor>
      <arglist>(State &amp;state, const Vector_&lt; SpatialVec &gt; &amp;bodyForcesInG) const</arglist>
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      <name>getOneMobilityForce</name>
      <anchorfile>classSimTK_1_1Force_1_1DiscreteForces.html</anchorfile>
      <anchor>a5e8b57d5691f98f3eaf096fe94c1dbcf</anchor>
      <arglist>(const State &amp;state, const MobilizedBody &amp;mobod, MobilizerUIndex whichU) const</arglist>
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    <member kind="function">
      <type>SpatialVec</type>
      <name>getOneBodyForce</name>
      <anchorfile>classSimTK_1_1Force_1_1DiscreteForces.html</anchorfile>
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      <arglist>(const State &amp;state, const MobilizedBody &amp;mobod) const</arglist>
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    <member kind="function">
      <type>const Vector &amp;</type>
      <name>getAllMobilityForces</name>
      <anchorfile>classSimTK_1_1Force_1_1DiscreteForces.html</anchorfile>
      <anchor>a2d21434b2d0e89e341ecacb9f52e1dcd</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const Vector_&lt; SpatialVec &gt; &amp;</type>
      <name>getAllBodyForces</name>
      <anchorfile>classSimTK_1_1Force_1_1DiscreteForces.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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    <base>SimTK::Force</base>
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      <name>GlobalDamper</name>
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      <arglist>(GeneralForceSubsystem &amp;forces, const SimbodyMatterSubsystem &amp;matter, Real damping)</arglist>
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    <member kind="function">
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      <name>GlobalDamper</name>
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      <arglist>()</arglist>
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      <anchorfile>classSimTK_1_1Force_1_1GlobalDamper.html</anchorfile>
      <anchor>a1f0bd77b9ba1f77e642e63b958edbb11</anchor>
      <arglist>(GlobalDamper, GlobalDamperImpl, Force)</arglist>
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  <compound kind="class">
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    <base>SimTK::Force</base>
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      <name>Gravity</name>
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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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      <name>Gravity</name>
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      <arglist>(GeneralForceSubsystem &amp;forces, const SimbodyMatterSubsystem &amp;matter, Real g)</arglist>
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    <member kind="function">
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      <name>Gravity</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>Gravity &amp;</type>
      <name>setDefaultBodyIsExcluded</name>
      <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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    <member kind="function">
      <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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    <member kind="function">
      <type>Gravity &amp;</type>
      <name>setDefaultDownDirection</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
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      <arglist>(const Vec3 &amp;down)</arglist>
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      <type>Gravity &amp;</type>
      <name>setDefaultMagnitude</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>a66c170ef4681d7857aed94c8121f912e</anchor>
      <arglist>(Real g)</arglist>
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    <member kind="function">
      <type>Gravity &amp;</type>
      <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>
      <name>getDefaultGravityVector</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
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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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      <name>getDefaultMagnitude</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getDefaultZeroHeight</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>ac28a77641c738637ad6900517fd00854</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <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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    <member kind="function">
      <type>const Gravity &amp;</type>
      <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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    <member kind="function">
      <type>const Gravity &amp;</type>
      <name>setDownDirection</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>a5667a335be224a255d36c1d0f6ff8d41</anchor>
      <arglist>(State &amp;state, const UnitVec3 &amp;down) const</arglist>
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    <member kind="function">
      <type>const Gravity &amp;</type>
      <name>setDownDirection</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>af764b6452793abd739b2d2d130e1c438</anchor>
      <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>ac678ec858aeb1aba869d63bddb0960ef</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>a9e50e22ff0fb8a8cb265aefb17f557f0</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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    <member kind="function">
      <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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    <member kind="function">
      <type>const UnitVec3 &amp;</type>
      <name>getDownDirection</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>a18c2eb32c3c1e6e68c553fb3165178ee</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <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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    <member kind="function">
      <type>Real</type>
      <name>getZeroHeight</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>abffc34328f5f93392ab74f4ce3c5dbd2</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getPotentialEnergy</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>af6966ebb423245ac188f25d09dc656d7</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>const Vector_&lt; SpatialVec &gt; &amp;</type>
      <name>getBodyForces</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>ad2c8e9b78f39bcfbc51b8eb6717a75cf</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>const SpatialVec &amp;</type>
      <name>getBodyForce</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>a14f5210c3a382aef16aa55f1e9af8c08</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex mobod) const</arglist>
    </member>
    <member kind="function">
      <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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    <member kind="function">
      <type>bool</type>
      <name>isForceCacheValid</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>ae9a5862704d156e16455454bdba0c738</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>void</type>
      <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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    <member kind="function">
      <type></type>
      <name>Gravity</name>
      <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>
    </member>
    <member kind="function">
      <type></type>
      <name>Gravity</name>
      <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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    <member kind="function">
      <type></type>
      <name>Gravity</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>a2ec3ea5d25cfd80c1d2a119b04269e1a</anchor>
      <arglist>(GeneralForceSubsystem &amp;forces, const SimbodyMatterSubsystem &amp;matter, Real g)</arglist>
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    <member kind="function">
      <type></type>
      <name>Gravity</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>acd3e9ba934baf18b17c081d2c9c82aa3</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>Gravity &amp;</type>
      <name>setDefaultBodyIsExcluded</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>ac1d3cbecb0482626cef935a4abfddd6b</anchor>
      <arglist>(MobilizedBodyIndex mobod, bool isExcluded)</arglist>
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      <type>Gravity &amp;</type>
      <name>setDefaultGravityVector</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>a6b750b27d56abbc6123050f623ef663b</anchor>
      <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>
      <anchor>ad9a6fc8b6b1ce0a23cc72c4111f7cd9e</anchor>
      <arglist>(const UnitVec3 &amp;down)</arglist>
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    <member kind="function">
      <type>Gravity &amp;</type>
      <name>setDefaultDownDirection</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>aa3e8afc5006797fa338817f342926591</anchor>
      <arglist>(const Vec3 &amp;down)</arglist>
    </member>
    <member kind="function">
      <type>Gravity &amp;</type>
      <name>setDefaultMagnitude</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>a66c170ef4681d7857aed94c8121f912e</anchor>
      <arglist>(Real g)</arglist>
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    <member kind="function">
      <type>Gravity &amp;</type>
      <name>setDefaultZeroHeight</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>a5b2defefcfea9cc3fab00ba752f080c1</anchor>
      <arglist>(Real zeroHeight)</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>getDefaultBodyIsExcluded</name>
      <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>
      <anchor>a0993c7742f0cf55de0e6807f66c70172</anchor>
      <arglist>() const</arglist>
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      <type>const UnitVec3 &amp;</type>
      <name>getDefaultDownDirection</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>a2bec1c05aed69b47da097ec33918a43b</anchor>
      <arglist>() const</arglist>
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      <type>Real</type>
      <name>getDefaultMagnitude</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>a1236f1f6de0b0e201038403538837440</anchor>
      <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>
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      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>aa78ae4851f07df7736163d405722f2ed</anchor>
      <arglist>(State &amp;state, MobilizedBodyIndex mobod, bool isExcluded) const</arglist>
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      <type>const Gravity &amp;</type>
      <name>setGravityVector</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>a55db27fb424df84ee3943ac205015593</anchor>
      <arglist>(State &amp;state, const Vec3 &amp;gravity) const</arglist>
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      <type>const Gravity &amp;</type>
      <name>setDownDirection</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>a5667a335be224a255d36c1d0f6ff8d41</anchor>
      <arglist>(State &amp;state, const UnitVec3 &amp;down) const</arglist>
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      <type>const Gravity &amp;</type>
      <name>setDownDirection</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>af764b6452793abd739b2d2d130e1c438</anchor>
      <arglist>(State &amp;state, const Vec3 &amp;down) const</arglist>
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      <type>const Gravity &amp;</type>
      <name>setMagnitude</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>ac678ec858aeb1aba869d63bddb0960ef</anchor>
      <arglist>(State &amp;state, Real g) const</arglist>
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      <type>const Gravity &amp;</type>
      <name>setZeroHeight</name>
      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>a9e50e22ff0fb8a8cb265aefb17f557f0</anchor>
      <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>
      <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>a18c2eb32c3c1e6e68c553fb3165178ee</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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      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>abffc34328f5f93392ab74f4ce3c5dbd2</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
      <anchor>af6966ebb423245ac188f25d09dc656d7</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const Vector_&lt; SpatialVec &gt; &amp;</type>
      <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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      <anchorfile>classSimTK_1_1Force_1_1Gravity.html</anchorfile>
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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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      <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>
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      <arglist>(GeneralForceSubsystem &amp;forces, const MobilizedBody &amp;body1, const MobilizedBody &amp;body2, const Vec6 &amp;stiffness, const Vec6 &amp;damping)</arglist>
    </member>
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      <arglist>()</arglist>
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    <member kind="function">
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      <arglist>(const Transform &amp;X_B1F)</arglist>
    </member>
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      <type>LinearBushing &amp;</type>
      <name>setDefaultFrameOnBody2</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
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      <arglist>(const Transform &amp;X_B2M)</arglist>
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      <type>LinearBushing &amp;</type>
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      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a0c92f341197a3fdc411a095aa7be3b11</anchor>
      <arglist>(const Vec6 &amp;stiffness)</arglist>
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      <type>LinearBushing &amp;</type>
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      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
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      <arglist>(const Vec6 &amp;damping)</arglist>
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      <arglist>() const</arglist>
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      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>const Vec6 &amp;</type>
      <name>getDefaultStiffness</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>const Vec6 &amp;</type>
      <name>getDefaultDamping</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>const LinearBushing &amp;</type>
      <name>setFrameOnBody1</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
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      <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>
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      <arglist>(State &amp;state, const Transform &amp;X_B2M) const</arglist>
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      <type>const LinearBushing &amp;</type>
      <name>setStiffness</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>ae79877940955b56fc8706cdacff020ea</anchor>
      <arglist>(State &amp;state, const Vec6 &amp;stiffness) const</arglist>
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      <type>const LinearBushing &amp;</type>
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      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
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      <arglist>(State &amp;state, const Vec6 &amp;damping) const</arglist>
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      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.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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      <name>getQ</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.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_1LinearBushing.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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      <type>const Vec6 &amp;</type>
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      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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      <type>const SpatialVec &amp;</type>
      <name>getV_GF</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>af24f4452e05346cbac3e25f5e2bfdb71</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>const SpatialVec &amp;</type>
      <name>getV_GM</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>aa3458685a33920e6fcec5ae8da96d75d</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>const SpatialVec &amp;</type>
      <name>getV_FM</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>accfa82c5b1e632555cc0100c4f0e54bd</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>a39f62534f681962a827282035a207d13</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>a6716a54f39094650653dd6f6577ec022</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>afd672e67a2525f95626075a61b6f016f</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>
    <member kind="function">
      <type>LinearBushing &amp;</type>
      <name>setDefaultFrameOnBody1</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>ab76b137c7191c2e905a76588f530ad49</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>a1b8ae553a54f154cf3a582e1bfa080ae</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>a0c92f341197a3fdc411a095aa7be3b11</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>acece6d42fc2aa6115e6f4dcecbc87d7f</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>aeed0ad225c13a99f550cf5af978d8904</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>a3f8f52a49e82891fb3dbdda2713f3cec</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>a4fe61cf51d9be44ad95c4abb50b34174</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>aaf1af83d19e5be0e0de50566d1e0525c</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>a44f5424d0e9786eefea1219f03734557</anchor>
      <arglist>(State &amp;state, const Transform &amp;X_B1F) const</arglist>
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    <member kind="function">
      <type>const LinearBushing &amp;</type>
      <name>setFrameOnBody2</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a74400cc053466a8d0eb03bd7025ee905</anchor>
      <arglist>(State &amp;state, const Transform &amp;X_B2M) const</arglist>
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      <type>const LinearBushing &amp;</type>
      <name>setStiffness</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>ae79877940955b56fc8706cdacff020ea</anchor>
      <arglist>(State &amp;state, const Vec6 &amp;stiffness) const</arglist>
    </member>
    <member kind="function">
      <type>const LinearBushing &amp;</type>
      <name>setDamping</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>aee433ac5e19411c4c6175b9dd7905d37</anchor>
      <arglist>(State &amp;state, const Vec6 &amp;damping) const</arglist>
    </member>
    <member kind="function">
      <type>const Transform &amp;</type>
      <name>getFrameOnBody1</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>acb8baf24e9d05ad71bac324d7285e4b9</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>aa1bfe148cfdcd782ec7b68900d2190ac</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>const Vec6 &amp;</type>
      <name>getStiffness</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a872bc7086ea05cab4e1c1a469eced94c</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>a7e9b0d3f447daab88c33d051dc7458ce</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>const Vec6 &amp;</type>
      <name>getQ</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a776cc5251d152882fd2e879ed923158b</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>const Transform &amp;</type>
      <name>getX_GF</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a719f29f188f0064b29ce43f3e47bfcd5</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const Transform &amp;</type>
      <name>getX_GM</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a2acdf1abece77622fa264bd6c19127ad</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>const Transform &amp;</type>
      <name>getX_FM</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a87004826ca7e29a2a024482bfe590630</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_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>afc294f3bccfa3be0f4c5e4bf73b27835</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>const SpatialVec &amp;</type>
      <name>getV_GF</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>af24f4452e05346cbac3e25f5e2bfdb71</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>const SpatialVec &amp;</type>
      <name>getV_GM</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>aa3458685a33920e6fcec5ae8da96d75d</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>const SpatialVec &amp;</type>
      <name>getV_FM</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>accfa82c5b1e632555cc0100c4f0e54bd</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>const Vec6 &amp;</type>
      <name>getF</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
      <anchor>a39f62534f681962a827282035a207d13</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>const SpatialVec &amp;</type>
      <name>getF_GM</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>const SpatialVec &amp;</type>
      <name>getF_GF</name>
      <anchorfile>classSimTK_1_1Force_1_1LinearBushing.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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    <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>
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    <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>
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    <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>
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    <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>
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  <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>
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    <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>
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    <member kind="function">
      <type></type>
      <name>MobilityConstantForce</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityConstantForce.html</anchorfile>
      <anchor>a7d4644387ab86c0bc8d2d24e114b3ca8</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>MobilityConstantForce &amp;</type>
      <name>setDefaultForce</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityConstantForce.html</anchorfile>
      <anchor>a1bfd4a8ee4419631d9ae3104137521e7</anchor>
      <arglist>(Real defaultForce)</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getDefaultForce</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityConstantForce.html</anchorfile>
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      <arglist>() const</arglist>
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    <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>
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    <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>
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    <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>
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    <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>
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  <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>
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      <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>
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    <member kind="function">
      <type></type>
      <name>MobilityDiscreteForce</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityDiscreteForce.html</anchorfile>
      <anchor>a7b77b7b4c7af40aa3a1faf63d920340b</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>MobilityDiscreteForce &amp;</type>
      <name>setDefaultMobilityForce</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityDiscreteForce.html</anchorfile>
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      <arglist>(Real defaultForce)</arglist>
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    <member kind="function">
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      <name>getDefaultMobilityForce</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityDiscreteForce.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classSimTK_1_1Force_1_1MobilityDiscreteForce.html</anchorfile>
      <anchor>afdb9fb19f9423076bd5b7963c5b6a08d</anchor>
      <arglist>(State &amp;state, Real f) const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getMobilityForce</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityDiscreteForce.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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  <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>
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    <member kind="function">
      <type>MobilityLinearDamper &amp;</type>
      <name>setDefaultDamping</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityLinearDamper.html</anchorfile>
      <anchor>aecdaf8e88e70776b4728e1c7fe469856</anchor>
      <arglist>(Real defaultDamping)</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getDefaultDamping</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityLinearDamper.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>const MobilityLinearDamper &amp;</type>
      <name>setDamping</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityLinearDamper.html</anchorfile>
      <anchor>a5b7ca014f2cbb08b9df948bbc6cc830a</anchor>
      <arglist>(State &amp;state, Real damping) const</arglist>
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      <type>Real</type>
      <name>getDamping</name>
      <anchorfile>classSimTK_1_1Force_1_1MobilityLinearDamper.html</anchorfile>
      <anchor>ae32abf71b2a8303a38e14f35ab5025a1</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <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>
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  <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>a48147c9a39775718de3cac45e2fd5602</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>aec8695b509975617969d5afa02ca15d9</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>abddfb2d85ef2dee19dae8cd5c4a3849b</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>a30d7bbc5ff4c3d64b9eb43a427b73f4c</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>a9bbf3ae14b7596ee13c76b0e24a4f60a</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>a50f32af0d8f23773ac3deb14e59e85cc</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>
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  </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>
    </member>
    <member kind="function">
      <type></type>
      <name>Thermostat</name>
      <anchorfile>classSimTK_1_1Force_1_1Thermostat.html</anchorfile>
      <anchor>a07f9ea63428fc65326f44cf5bf7e53c1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Thermostat &amp;</type>
      <name>excludeMobilizedBody</name>
      <anchorfile>classSimTK_1_1Force_1_1Thermostat.html</anchorfile>
      <anchor>a5b64bd2ea92ab94b7dfa639179918210</anchor>
      <arglist>(MobilizedBodyIndex)</arglist>
    </member>
    <member kind="function">
      <type>Thermostat &amp;</type>
      <name>setDefaultNumChains</name>
      <anchorfile>classSimTK_1_1Force_1_1Thermostat.html</anchorfile>
      <anchor>a072715a7a55c38d34ba3408e176aa15b</anchor>
      <arglist>(int numChains)</arglist>
    </member>
    <member kind="function">
      <type>Thermostat &amp;</type>
      <name>setDefaultBathTemperature</name>
      <anchorfile>classSimTK_1_1Force_1_1Thermostat.html</anchorfile>
      <anchor>aaeca1f89f7ba9e3d7165ac78f66a274f</anchor>
      <arglist>(Real bathTemperature)</arglist>
    </member>
    <member kind="function">
      <type>Thermostat &amp;</type>
      <name>setDefaultRelaxationTime</name>
      <anchorfile>classSimTK_1_1Force_1_1Thermostat.html</anchorfile>
      <anchor>a319f6390544658d3b7164942ee725ac1</anchor>
      <arglist>(Real relaxationTime)</arglist>
    </member>
    <member kind="function">
      <type>Thermostat &amp;</type>
      <name>setDefaultNumExcludedDofs</name>
      <anchorfile>classSimTK_1_1Force_1_1Thermostat.html</anchorfile>
      <anchor>a47f661a040a2ec38b14f5ba60bd8c784</anchor>
      <arglist>(int numExcludedDofs)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getDefaultNumChains</name>
      <anchorfile>classSimTK_1_1Force_1_1Thermostat.html</anchorfile>
      <anchor>afd47f2b2149342e0aca272dd2253a523</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getDefaultBathTemperature</name>
      <anchorfile>classSimTK_1_1Force_1_1Thermostat.html</anchorfile>
      <anchor>ac14a961b303e329f86798cae36b0b10b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getDefaultRelaxationTime</name>
      <anchorfile>classSimTK_1_1Force_1_1Thermostat.html</anchorfile>
      <anchor>a619c79f1166baa2e0cd08ddc82be5ce5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getDefaultNumExcludedDofs</name>
      <anchorfile>classSimTK_1_1Force_1_1Thermostat.html</anchorfile>
      <anchor>ae493d67183d548746df0f10eada872e2</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getBoltzmannsConstant</name>
      <anchorfile>classSimTK_1_1Force_1_1Thermostat.html</anchorfile>
      <anchor>a6296328c0b99dd3aa7908e79e1ede0cd</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Thermostat &amp;</type>
      <name>setNumChains</name>
      <anchorfile>classSimTK_1_1Force_1_1Thermostat.html</anchorfile>
      <anchor>ab3f359cfc95d115f6da657bd9dc6f1bb</anchor>
      <arglist>(State &amp;, int numChains) const</arglist>
    </member>
    <member kind="function">
      <type>const Thermostat &amp;</type>
      <name>setBathTemperature</name>
      <anchorfile>classSimTK_1_1Force_1_1Thermostat.html</anchorfile>
      <anchor>a8785565931560b58abe8d9cb3e6c52ad</anchor>
      <arglist>(State &amp;, Real Tb) const</arglist>
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    <member kind="function">
      <type>const Thermostat &amp;</type>
      <name>setRelaxationTime</name>
      <anchorfile>classSimTK_1_1Force_1_1Thermostat.html</anchorfile>
      <anchor>ae3ac7c5bba22ec2f5bdd66155b7b82ac</anchor>
      <arglist>(State &amp;, Real t) const</arglist>
    </member>
    <member kind="function">
      <type>const Thermostat &amp;</type>
      <name>setNumExcludedDofs</name>
      <anchorfile>classSimTK_1_1Force_1_1Thermostat.html</anchorfile>
      <anchor>a41ff7b83d9ff5462e86122f077517c5a</anchor>
      <arglist>(State &amp;, int numExcludedDofs) const</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getNumChains</name>
      <anchorfile>classSimTK_1_1Force_1_1Thermostat.html</anchorfile>
      <anchor>a7ccf6f78bf3fd3208bc6921b4baf3b29</anchor>
      <arglist>(const State &amp;) const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getBathTemperature</name>
      <anchorfile>classSimTK_1_1Force_1_1Thermostat.html</anchorfile>
      <anchor>acd52b31a0e00face96463cb79c6f5118</anchor>
      <arglist>(const State &amp;) const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getRelaxationTime</name>
      <anchorfile>classSimTK_1_1Force_1_1Thermostat.html</anchorfile>
      <anchor>a8d258c40ff9a083e7694633ab51281b8</anchor>
      <arglist>(const State &amp;) const</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getNumExcludedDofs</name>
      <anchorfile>classSimTK_1_1Force_1_1Thermostat.html</anchorfile>
      <anchor>a78d4f6e1e930c3832cf0c31f0ad59abd</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getNumThermalDofs</name>
      <anchorfile>classSimTK_1_1Force_1_1Thermostat.html</anchorfile>
      <anchor>ab136c9fe1a4f723e9211fc5555c97670</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getCurrentTemperature</name>
      <anchorfile>classSimTK_1_1Force_1_1Thermostat.html</anchorfile>
      <anchor>af9d62ad89b2ce1541b97596eada03eab</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>initializeChainState</name>
      <anchorfile>classSimTK_1_1Force_1_1Thermostat.html</anchorfile>
      <anchor>ad486011ad12b3b8de21d9b7159cc1da0</anchor>
      <arglist>(State &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setChainState</name>
      <anchorfile>classSimTK_1_1Force_1_1Thermostat.html</anchorfile>
      <anchor>a88dcad8dd039a7149efc89b63e1e39a0</anchor>
      <arglist>(State &amp;, const Vector &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>Vector</type>
      <name>getChainState</name>
      <anchorfile>classSimTK_1_1Force_1_1Thermostat.html</anchorfile>
      <anchor>ab49815535fcdc828bbbb28df263546af</anchor>
      <arglist>(const State &amp;) const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>calcBathEnergy</name>
      <anchorfile>classSimTK_1_1Force_1_1Thermostat.html</anchorfile>
      <anchor>a84f2d98dfcb7dca8db0f52f622e6b6c1</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getExternalPower</name>
      <anchorfile>classSimTK_1_1Force_1_1Thermostat.html</anchorfile>
      <anchor>ab0c4e317db0f2258047bdc239d813ab1</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getExternalWork</name>
      <anchorfile>classSimTK_1_1Force_1_1Thermostat.html</anchorfile>
      <anchor>a2b4d2d03801b98a187ab51cad19f4104</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setExternalWork</name>
      <anchorfile>classSimTK_1_1Force_1_1Thermostat.html</anchorfile>
      <anchor>a0eff39ffcbec0c43b9eed27ef46661a8</anchor>
      <arglist>(State &amp;state, Real work) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>initializeSystemToBathTemperature</name>
      <anchorfile>classSimTK_1_1Force_1_1Thermostat.html</anchorfile>
      <anchor>afe60eff1518dcb52570a5e4ac58271e0</anchor>
      <arglist>(State &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setSystemToTemperature</name>
      <anchorfile>classSimTK_1_1Force_1_1Thermostat.html</anchorfile>
      <anchor>a7b58a354e29d2fcc95188787197ec947</anchor>
      <arglist>(State &amp;, Real T) const</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::Force::TwoPointConstantForce</name>
    <filename>classSimTK_1_1Force_1_1TwoPointConstantForce.html</filename>
    <base>SimTK::Force</base>
    <member kind="function">
      <type></type>
      <name>TwoPointConstantForce</name>
      <anchorfile>classSimTK_1_1Force_1_1TwoPointConstantForce.html</anchorfile>
      <anchor>a003e95ef6c1672cf63b11915f4927672</anchor>
      <arglist>(GeneralForceSubsystem &amp;forces, const MobilizedBody &amp;body1, const Vec3 &amp;station1, const MobilizedBody &amp;body2, const Vec3 &amp;station2, Real force)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TwoPointConstantForce</name>
      <anchorfile>classSimTK_1_1Force_1_1TwoPointConstantForce.html</anchorfile>
      <anchor>a0800f0d67ce1ac72a26a5369bea693dd</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS</name>
      <anchorfile>classSimTK_1_1Force_1_1TwoPointConstantForce.html</anchorfile>
      <anchor>ac66f8dd2126333c4df477c8e24c98aed</anchor>
      <arglist>(TwoPointConstantForce, TwoPointConstantForceImpl, Force)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::Force::TwoPointLinearDamper</name>
    <filename>classSimTK_1_1Force_1_1TwoPointLinearDamper.html</filename>
    <base>SimTK::Force</base>
    <member kind="function">
      <type></type>
      <name>TwoPointLinearDamper</name>
      <anchorfile>classSimTK_1_1Force_1_1TwoPointLinearDamper.html</anchorfile>
      <anchor>aaf9b2987c733004f119f2a1734efd3aa</anchor>
      <arglist>(GeneralForceSubsystem &amp;forces, const MobilizedBody &amp;body1, const Vec3 &amp;station1, const MobilizedBody &amp;body2, const Vec3 &amp;station2, Real damping)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TwoPointLinearDamper</name>
      <anchorfile>classSimTK_1_1Force_1_1TwoPointLinearDamper.html</anchorfile>
      <anchor>aa90cf702af24e7aa27fb015f6d4c6e3f</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS</name>
      <anchorfile>classSimTK_1_1Force_1_1TwoPointLinearDamper.html</anchorfile>
      <anchor>a9e151543a0930e00ef58b0d67af75ce8</anchor>
      <arglist>(TwoPointLinearDamper, TwoPointLinearDamperImpl, Force)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::Force::TwoPointLinearSpring</name>
    <filename>classSimTK_1_1Force_1_1TwoPointLinearSpring.html</filename>
    <base>SimTK::Force</base>
    <member kind="function">
      <type></type>
      <name>TwoPointLinearSpring</name>
      <anchorfile>classSimTK_1_1Force_1_1TwoPointLinearSpring.html</anchorfile>
      <anchor>a9cf4e1da1e75eec605567eb1431c01f5</anchor>
      <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>
    </member>
    <member kind="function">
      <type></type>
      <name>TwoPointLinearSpring</name>
      <anchorfile>classSimTK_1_1Force_1_1TwoPointLinearSpring.html</anchorfile>
      <anchor>ad14a490bd3d329fe5328c7cb35eb7412</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS</name>
      <anchorfile>classSimTK_1_1Force_1_1TwoPointLinearSpring.html</anchorfile>
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      <arglist>(TwoPointLinearSpring, TwoPointLinearSpringImpl, Force)</arglist>
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    <member kind="function">
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      <arglist>(GeneralForceSubsystem &amp;forces, const SimbodyMatterSubsystem &amp;matter, const Vec3 &amp;g, Real zeroHeight=0)</arglist>
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      <arglist>()</arglist>
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      <arglist>(const Vec3 &amp;g)</arglist>
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      <arglist>() const</arglist>
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      <arglist>(Real height)</arglist>
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      <arglist>(ForceSubsystem, Subsystem)</arglist>
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      <arglist>()</arglist>
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      <arglist>() const</arglist>
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    <member kind="function">
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      <arglist>(const String &amp;name, const String &amp;version)</arglist>
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      <arglist>()</arglist>
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      <arglist>() const</arglist>
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      <arglist>(const State &amp;state) const =0</arglist>
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      <arglist>(ForceSubsystem::Guts, Subsystem::Guts)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
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      <arglist>()</arglist>
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      <arglist>(const Vector &amp;x) const =0</arglist>
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      <arglist>(const Array_&lt; int &gt; &amp;derivComponents, const Vector &amp;x) const =0</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>() const =0</arglist>
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      <arglist>() const =0</arglist>
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      <arglist>() const</arglist>
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      <arglist>(T value, int argumentSize=1)</arglist>
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      <arglist>(const Vector &amp;x) const override</arglist>
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      <arglist>(const Array_&lt; int &gt; &amp;derivComponents, const Vector &amp;x) const override</arglist>
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      <arglist>() const override</arglist>
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      <arglist>() const override</arglist>
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      <arglist>() const override</arglist>
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      <anchorfile>classSimTK_1_1Function___1_1Constant.html</anchorfile>
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    <base>SimTK::Function_</base>
    <member kind="function">
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      <arglist>(const Vector_&lt; T &gt; &amp;coefficients)</arglist>
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      <arglist>(const Vector &amp;x) const override</arglist>
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      <anchorfile>classSimTK_1_1Function___1_1Linear.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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      <anchorfile>classSimTK_1_1Function___1_1Linear.html</anchorfile>
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      <arglist>() const override</arglist>
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      <anchorfile>classSimTK_1_1Function___1_1Linear.html</anchorfile>
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      <arglist>() const override</arglist>
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      <arglist>() const override</arglist>
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      <arglist>(const Vector_&lt; T &gt; &amp;coefficients)</arglist>
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      <arglist>(const Vector &amp;x) const override</arglist>
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      <arglist>(const Array_&lt; int &gt; &amp;derivComponents, const Vector &amp;x) const override</arglist>
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      <arglist>() const override</arglist>
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      <anchorfile>classSimTK_1_1Function___1_1Polynomial.html</anchorfile>
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      <arglist>() const override</arglist>
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      <arglist>() const override</arglist>
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      <arglist>(Real amplitude, Real frequency, Real phase=0)</arglist>
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      <anchorfile>classSimTK_1_1Function___1_1Sinusoid.html</anchorfile>
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      <arglist>(Real amplitude)</arglist>
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      <anchorfile>classSimTK_1_1Function___1_1Sinusoid.html</anchorfile>
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      <arglist>(Real frequency)</arglist>
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      <anchorfile>classSimTK_1_1Function___1_1Sinusoid.html</anchorfile>
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      <arglist>(Real phase)</arglist>
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    <member kind="function">
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      <name>getAmplitude</name>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(const Vector &amp;x) const override</arglist>
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      <arglist>(const Array_&lt; int &gt; &amp;derivComponents, const Vector &amp;x) const override</arglist>
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      <arglist>() const override</arglist>
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      <anchorfile>classSimTK_1_1Function___1_1Sinusoid.html</anchorfile>
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      <arglist>() const override</arglist>
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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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    <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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      <name>setParameters</name>
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      <arglist>(const T &amp;y0, const T &amp;y1, Real x0, Real x1)</arglist>
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      <anchorfile>classSimTK_1_1Function___1_1Step.html</anchorfile>
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      <arglist>(const Vector &amp;xin) const override</arglist>
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      <name>calcDerivative</name>
      <anchorfile>classSimTK_1_1Function___1_1Step.html</anchorfile>
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      <arglist>(const Array_&lt; int &gt; &amp;derivComponents, const Vector &amp;xin) const override</arglist>
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      <name>getArgumentSize</name>
      <anchorfile>classSimTK_1_1Function___1_1Step.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_1Step.html</anchorfile>
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      <arglist>() const override</arglist>
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    <member kind="function">
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      <anchorfile>classSimTK_1_1Function___1_1Step.html</anchorfile>
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      <arglist>() const override</arglist>
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      <name>calcUnitNormal</name>
      <anchorfile>classSimTK_1_1Geo.html</anchorfile>
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      <arglist>(const Vec&lt; 3, RealP, S &gt; &amp;Pu, const Vec&lt; 3, RealP, S &gt; &amp;Puu)</arglist>
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      <anchorfile>classSimTK_1_1Geo.html</anchorfile>
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      <arglist>(const Vec&lt; 3, RealP, S &gt; &amp;P, const Vec&lt; 3, RealP, S &gt; &amp;Pu, const Vec&lt; 3, RealP, S &gt; &amp;Puu, Transform_&lt; RealP &gt; &amp;X_FP)</arglist>
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      <arglist>(const Vec&lt; 3, RealP, S &gt; &amp;Pu, const Vec&lt; 3, RealP, S &gt; &amp;Puu)</arglist>
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      <arglist>(const Vec&lt; 3, RealP, S &gt; &amp;Pu, const Vec&lt; 3, RealP, S &gt; &amp;Puu, const Vec&lt; 3, RealP, S &gt; &amp;Puuu)</arglist>
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      <arglist>(const Vec&lt; 3, RealP &gt; &amp;p0, const UnitVec&lt; RealP, 1 &gt; &amp;d0, const Vec&lt; 3, RealP &gt; &amp;p1, const UnitVec&lt; RealP, 1 &gt; &amp;d1, Vec&lt; 3, RealP &gt; &amp;x0, Vec&lt; 3, RealP &gt; &amp;x1, bool &amp;linesAreParallel)</arglist>
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      <arglist>()</arglist>
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      <anchorfile>classSimTK_1_1Geo.html</anchorfile>
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      <arglist>()</arglist>
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      <anchorfile>classSimTK_1_1Geo.html</anchorfile>
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      <arglist>()</arglist>
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      <anchorfile>classSimTK_1_1Geo.html</anchorfile>
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      <arglist>()</arglist>
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      <anchorfile>classSimTK_1_1Geo.html</anchorfile>
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      <arglist>()</arglist>
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      <anchorfile>classSimTK_1_1Geo.html</anchorfile>
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      <arglist>(RealP length, RealP tol)</arglist>
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      <anchorfile>classSimTK_1_1Geo.html</anchorfile>
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      <arglist>(RealP length)</arglist>
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      <arglist>()</arglist>
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      <arglist>(const Vec3P &amp;center)</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <anchorfile>classSimTK_1_1Geo_1_1AlignedBox__.html</anchorfile>
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      <arglist>() const</arglist>
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      <anchorfile>classSimTK_1_1Geo_1_1AlignedBox__.html</anchorfile>
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      <arglist>()</arglist>
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      <arglist>(const Vec3P &amp;pt_F) const</arglist>
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      <arglist>()</arglist>
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      <arglist>(const Mat&lt; 4, 4, Vec3P &gt; &amp;controlPoints)</arglist>
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      <arglist>(RealP u, RealP w) const</arglist>
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      <anchorfile>classSimTK_1_1Geo_1_1BicubicBezierPatch__.html</anchorfile>
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      <arglist>(RealP u, RealP w, Vec3P &amp;Pu, Vec3P &amp;Pw) const</arglist>
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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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      <anchorfile>classSimTK_1_1Geo_1_1BicubicBezierPatch__.html</anchorfile>
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      <arglist>(RealP u, RealP w, Vec3P &amp;Puuu, Vec3P &amp;Puuw, Vec3P &amp;Puww, Vec3P &amp;Pwww) const</arglist>
    </member>
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      <type>const Mat&lt; 4, 4, Vec3P &gt; &amp;</type>
      <name>getControlPoints</name>
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      <arglist>() const</arglist>
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      <type>Mat&lt; 4, 4, Vec3P &gt; &amp;</type>
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      <anchorfile>classSimTK_1_1Geo_1_1BicubicBezierPatch__.html</anchorfile>
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      <arglist>()</arglist>
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      <arglist>() const</arglist>
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      <type>Mat&lt; 4, 4, Vec3P &gt;</type>
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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 u0) const</arglist>
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      <arglist>(RealP w0) const</arglist>
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      <arglist>(RealP w, BicubicBezierPatch_&lt; P &gt; &amp;patch0, BicubicBezierPatch_&lt; P &gt; &amp;patch1) 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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      <type>static Vec3P</type>
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      <anchorfile>classSimTK_1_1Geo_1_1BicubicBezierPatch__.html</anchorfile>
      <anchor>a2a1988ebd2e5967aca7f60b3d71ddde8</anchor>
      <arglist>(const Mat&lt; 4, 4, Vec3P &gt; &amp;B, RealP u, RealP w)</arglist>
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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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      <type>static void</type>
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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>
    </member>
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      <type>static void</type>
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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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      <type>static CubicBezierCurve_&lt; P &gt;</type>
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      <anchor>a472ca24bcde18cf60c37b38d2af3d2ce</anchor>
      <arglist>(const Mat&lt; 4, 4, Vec3P &gt; &amp;B, RealP u0)</arglist>
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      <type>static CubicBezierCurve_&lt; P &gt;</type>
      <name>calcIsoCurveW</name>
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      <anchor>a6a4bfb28893ba61a2a028e301c0b2668</anchor>
      <arglist>(const Mat&lt; 4, 4, Vec3P &gt; &amp;B, RealP w0)</arglist>
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      <type>static Mat&lt; 4, 4, Vec3P &gt;</type>
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      <arglist>(const Mat&lt; 4, 4, Vec3P &gt; &amp;B)</arglist>
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      <type>static Mat&lt; 4, 4, Vec3P &gt;</type>
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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;A)</arglist>
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      <type>static Mat&lt; 4, 4, Vec3P &gt;</type>
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      <arglist>(const Mat&lt; 4, 4, Vec3P &gt; &amp;B)</arglist>
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      <type>static Mat&lt; 4, 4, Vec3P &gt;</type>
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      <arglist>(const Mat&lt; 4, 4, Vec3P &gt; &amp;H)</arglist>
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      <type>static Vec3P</type>
      <name>evalPUsingB</name>
      <anchorfile>classSimTK_1_1Geo_1_1BicubicBezierPatch__.html</anchorfile>
      <anchor>a2a1988ebd2e5967aca7f60b3d71ddde8</anchor>
      <arglist>(const Mat&lt; 4, 4, Vec3P &gt; &amp;B, RealP u, RealP w)</arglist>
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      <type>static void</type>
      <name>evalP1UsingB</name>
      <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>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>evalP2UsingB</name>
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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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      <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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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(const Vec3P &amp;pt) const</arglist>
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      <arglist>(const Vec3 &amp;d) const</arglist>
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      <arglist>(const Vec3P &amp;d) const</arglist>
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      <arglist>(RealP u) const</arglist>
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      <arglist>(RealP u) const</arglist>
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      <arglist>(RealP u) const</arglist>
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      <arglist>(RealP u)</arglist>
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      <arglist>(RealP u)</arglist>
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      <arglist>() const</arglist>
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      <arglist>(RealP u)</arglist>
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      <anchorfile>classSimTK_1_1Geo_1_1CubicBezierCurve__.html</anchorfile>
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      <arglist>(RealP u)</arglist>
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      <arglist>(RealP u)</arglist>
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      <arglist>(RealP u)</arglist>
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      <arglist>(const Vec&lt; 4, Vec3P, S &gt; &amp;B, RealP u)</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>(RealP u)</arglist>
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      <arglist>(RealP u)</arglist>
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      <arglist>(RealP u)</arglist>
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      <arglist>(RealP u)</arglist>
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      <arglist>()</arglist>
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      <arglist>(const Vec3P &amp;p1, const Vec3P &amp;p2)</arglist>
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      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
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      <arglist>(const Vec3P &amp;p1, const Vec3P &amp;p2)</arglist>
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      <arglist>(const Array_&lt; const Vec3P * &gt; &amp;points, const UnitVec3P &amp;direction, int &amp;most, RealP &amp;mostCoord)</arglist>
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      <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>
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      <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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      <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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      <arglist>(const Array_&lt; const Vec3P * &gt; &amp;points_F, Vec3P &amp;centroid, SymMat33P &amp;covariance)</arglist>
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      <arglist>(const Array_&lt; Vec3P &gt; &amp;points_F, TransformP &amp;X_FP)</arglist>
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      <arglist>(const Array_&lt; const Vec3P * &gt; &amp;points_F, TransformP &amp;X_FP)</arglist>
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      <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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      <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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      <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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      <anchor>a631100224e2a7ad801c49355f896a070</anchor>
      <arglist>(const Array_&lt; const Vec3P * &gt; &amp;points, Array_&lt; int &gt; &amp;support)</arglist>
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      <type>static Geo::AlignedBox_&lt; P &gt;</type>
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      <arglist>(const Array_&lt; const Vec3P * &gt; &amp;points)</arglist>
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      <type>static void</type>
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      <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>
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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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      <type>static Geo::OrientedBox_&lt; P &gt;</type>
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      <anchor>a38e675b610b8f141547f77b13fc4cb46</anchor>
      <arglist>(const Array_&lt; Vec3P &gt; &amp;points, Array_&lt; int &gt; &amp;support, bool optimize=true)</arglist>
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      <type>static Geo::OrientedBox_&lt; P &gt;</type>
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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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      <type>static Geo::OrientedBox_&lt; P &gt;</type>
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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 Vec3P &amp;p0, const Vec3P &amp;p1)</arglist>
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      <arglist>(const Vec3P &amp;p0, const Vec3P &amp;p1, const Vec3P &amp;p2)</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>a3d07bc4d215e74eb5025c1ea0978df04</anchor>
      <arglist>(const Vec3P &amp;p0, const Vec3P &amp;p1, const Vec3P &amp;p2, const Vec3P &amp;p3)</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>a096dbb01f11747f45c1c355a34f20da1</anchor>
      <arglist>(const Array_&lt; Vec3P &gt; &amp;points)</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>a412ac656787e81c6a96e8ca7c9683c62</anchor>
      <arglist>(const std::vector&lt; Vec3P &gt; &amp;points)</arglist>
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    <member kind="function" static="yes">
      <type>static Sphere_&lt; P &gt;</type>
      <name>calcBoundingSphereIndirect</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a948a2e23a3c22d337cdb35da44647e6d</anchor>
      <arglist>(const Array_&lt; const Vec3P * &gt; &amp;points)</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>aeffe7330aff69ef3e8ed1c252085bdeb</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>a1a3b4131479e4ed7db27c4bc266bc3c5</anchor>
      <arglist>(const Vec3P &amp;p0, Array_&lt; int &gt; &amp;which)</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>a1431877f0def1b85d8b15e8029f7c243</anchor>
      <arglist>(const Vec3P &amp;p0, const Vec3P &amp;p1, Array_&lt; int &gt; &amp;which)</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>a01f517addfa79f571a51458ca1363426</anchor>
      <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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    <member kind="function" static="yes">
      <type>static Sphere_&lt; P &gt;</type>
      <name>calcBoundingSphere</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>aaca11f5f4375655edaa019b4291925f4</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>ab97acc17c1a2eceb173c99456ce1f294</anchor>
      <arglist>(const Array_&lt; Vec3P &gt; &amp;points, Array_&lt; int &gt; &amp;which)</arglist>
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    <member kind="function" static="yes">
      <type>static Sphere_&lt; P &gt;</type>
      <name>calcBoundingSphereIndirect</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>aad54787adf05000d404072c3c8ff6b5f</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>aceab578972000c99e381fb594b4ba371</anchor>
      <arglist>(const Array_&lt; Vec3P &gt; &amp;points)</arglist>
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    <member kind="function" static="yes">
      <type>static Sphere_&lt; P &gt;</type>
      <name>calcApproxBoundingSphere</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>ad363b6c134120cce3e0e8fe77e584e10</anchor>
      <arglist>(const std::vector&lt; Vec3P &gt; &amp;points)</arglist>
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    <member kind="function" static="yes">
      <type>static Sphere_&lt; P &gt;</type>
      <name>calcApproxBoundingSphereIndirect</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>ae620ae7369db581bedf75c19e280e27e</anchor>
      <arglist>(const Array_&lt; const Vec3P * &gt; &amp;points)</arglist>
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    <member kind="function" static="yes">
      <type>static Sphere_&lt; P &gt;</type>
      <name>calcApproxBoundingSphereIndirect</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a4132b9685db8f2bca6f3db99c0b193f6</anchor>
      <arglist>(const std::vector&lt; const Vec3P * &gt; &amp;points)</arglist>
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      <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>
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      <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>
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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>abdcd93886ac3fb0203916f5e2da270d2</anchor>
      <arglist>(const Vec3P &amp;p1, const Vec3P &amp;p2)</arglist>
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      <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>
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      <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>
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      <type>static void</type>
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      <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>
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    <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>
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      <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>
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      <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>
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    <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>
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    <member kind="function" static="yes">
      <type>static Geo::AlignedBox_&lt; P &gt;</type>
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      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a0c532ebf131af21396b8ad66c9342a75</anchor>
      <arglist>(const Array_&lt; Vec3P &gt; &amp;points, Array_&lt; int &gt; &amp;support)</arglist>
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      <type>static Geo::AlignedBox_&lt; P &gt;</type>
      <name>calcAxisAlignedBoundingBox</name>
      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a243308dbebd1fef047f667c0b640b265</anchor>
      <arglist>(const Array_&lt; Vec3P &gt; &amp;points)</arglist>
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    <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>a631100224e2a7ad801c49355f896a070</anchor>
      <arglist>(const Array_&lt; const Vec3P * &gt; &amp;points, Array_&lt; int &gt; &amp;support)</arglist>
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    <member kind="function" static="yes">
      <type>static Geo::AlignedBox_&lt; P &gt;</type>
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      <anchorfile>classSimTK_1_1Geo_1_1Point__.html</anchorfile>
      <anchor>a2da7dd990efc0779299af5f26be6f57e</anchor>
      <arglist>(const Array_&lt; const Vec3P * &gt; &amp;points)</arglist>
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    <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>a38e675b610b8f141547f77b13fc4cb46</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>ae91f9e30f07297a2aa706b01fab5b945</anchor>
      <arglist>(const Array_&lt; Vec3P &gt; &amp;points)</arglist>
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    <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>aabc67ddb83095bfdeb35d30c4daf1de3</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>a1dba7882f6c07a0e0574664c02653e61</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>a933df6601ee195a5897427a2d39d6bb2</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>ab0e5f96d06259efffdf25ffc72126f20</anchor>
      <arglist>(const Vec3P &amp;p0, const Vec3P &amp;p1)</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>a36603ee2b3fca05eb804eeacc291dd6f</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>a3d07bc4d215e74eb5025c1ea0978df04</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>a096dbb01f11747f45c1c355a34f20da1</anchor>
      <arglist>(const Array_&lt; Vec3P &gt; &amp;points)</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>a412ac656787e81c6a96e8ca7c9683c62</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>a948a2e23a3c22d337cdb35da44647e6d</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>aeffe7330aff69ef3e8ed1c252085bdeb</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>a1a3b4131479e4ed7db27c4bc266bc3c5</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>a1431877f0def1b85d8b15e8029f7c243</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>a01f517addfa79f571a51458ca1363426</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>aaca11f5f4375655edaa019b4291925f4</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>ab97acc17c1a2eceb173c99456ce1f294</anchor>
      <arglist>(const Array_&lt; Vec3P &gt; &amp;points, Array_&lt; int &gt; &amp;which)</arglist>
    </member>
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      <type>static Sphere_&lt; P &gt;</type>
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      <arglist>(const Array_&lt; Vec3P &gt; &amp;points)</arglist>
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      <arglist>()</arglist>
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      <arglist>(RealP radius)</arglist>
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      <arglist>(RealP f)</arglist>
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      <arglist>()</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>()</arglist>
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      <arglist>() const</arglist>
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      <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</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 Transform &amp;Kf)</arglist>
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      <arglist>()</arglist>
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      <arglist>() const</arglist>
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      <arglist>(Real s)</arglist>
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      <arglist>()</arglist>
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      <arglist>() const</arglist>
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      <arglist>(Real kappa)</arglist>
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      <arglist>()</arglist>
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      <arglist>() const</arglist>
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      <arglist>(const Vec2 &amp;jP)</arglist>
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      <arglist>()</arglist>
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      <arglist>() const</arglist>
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      <arglist>(const Vec2 &amp;jQ)</arglist>
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      <arglist>()</arglist>
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      <arglist>() const</arglist>
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      <arglist>(const Vec2 &amp;jtP)</arglist>
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      <arglist>()</arglist>
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      <arglist>() const</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>(Real sz)</arglist>
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      <arglist>(Real acc)</arglist>
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      <arglist>(Real h)</arglist>
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      <arglist>(Real tStop)</arglist>
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      <arglist>(Real accuracy)</arglist>
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      <arglist>(Option opt)</arglist>
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      <arglist>(Option opt)</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>(Status status)</arglist>
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      <arglist>(State &amp;state) const override</arglist>
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      <arglist>(State &amp;state) const override</arglist>
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      <arglist>(const State &amp;state) const override</arglist>
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      <arglist>(const State &amp;state) const override</arglist>
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      <arglist>(const State &amp;state) const override</arglist>
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      <arglist>(const State &amp;state) 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 defaultCaptureSpeed, Real defaultMinCORSpeed, Real impactSpeed) const override</arglist>
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      <arglist>(const State &amp;s) const override</arglist>
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    <name>SimTK::HardStopUpper</name>
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      <arglist>(MobilizedBody &amp;mobod, MobilizerQIndex whichQ, Real defaultUpperLimit, Real minCOR)</arglist>
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      <arglist>(const State &amp;state) const override</arglist>
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      <arglist>(const State &amp;state) 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 defaultCaptureSpeed, Real defaultMinCORSpeed, Real impactSpeed) const override</arglist>
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      <arglist>(const State &amp;s) const override</arglist>
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      <arglist>(MultibodySystem &amp;)</arglist>
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      <arglist>(MobilizedBodyIndex body, const Vec3 &amp;center, const Real &amp;radius, const Real &amp;stiffness, const Real &amp;dissipation)</arglist>
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      <arglist>(MobilizedBodyIndex body, const UnitVec3 &amp;normal, const Real &amp;height, const Real &amp;stiffness, const Real &amp;dissipation)</arglist>
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      <arglist>(HuntCrossleyContact, ForceSubsystem)</arglist>
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    <base>SimTK::Force</base>
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      <arglist>(GeneralForceSubsystem &amp;forces, GeneralContactSubsystem &amp;contacts, ContactSetIndex contactSet)</arglist>
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      <arglist>(ContactSurfaceIndex surfIndex, Real stiffness, Real dissipation, Real staticFriction, Real dynamicFriction, Real viscousFriction)</arglist>
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      <arglist>() const</arglist>
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      <arglist>(Real v)</arglist>
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      <anchorfile>classSimTK_1_1HuntCrossleyForce.html</anchorfile>
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      <arglist>() const</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(const std::vector&lt; String &gt; &amp;observationOrder)</arglist>
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      <arglist>(const Array_&lt; std::string &gt; &amp;observationOrder)</arglist>
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      <arglist>(MobilizedBodyIndex mbx)</arglist>
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      <arglist>(const Array_&lt; Vec3 &gt; &amp;observations)</arglist>
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      <arglist>(MarkerIx mx, Real weight)</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, Vector &amp;grad) const override</arglist>
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      <arglist>(const Array_&lt; String &gt; &amp;observationOrder)</arglist>
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      <arglist>(const std::vector&lt; String &gt; &amp;observationOrder)</arglist>
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      <arglist>(const Array_&lt; std::string &gt; &amp;observationOrder)</arglist>
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      <arglist>(const std::vector&lt; std::string &gt; &amp;observationOrder)</arglist>
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      <arglist>(MarkerIx ix)</arglist>
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      <arglist>(MobilizedBodyIndex mbx)</arglist>
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      <arglist>(const Array_&lt; Vec3 &gt; &amp;observations)</arglist>
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      <arglist>(MarkerIx mx, Real weight)</arglist>
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      <arglist>(const S &amp;s)</arglist>
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      <arglist>(const S &amp;s, typename EltResult&lt; S &gt;::Sub &amp;) const</arglist>
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      <arglist>(const S &amp;s)</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>() 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>(Scalar *newData, ptrdiff_t length, bool takeOwnership)</arglist>
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      <arglist>(const Scalar *newData, ptrdiff_t length)</arglist>
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      <arglist>(Scalar *newData, ptrdiff_t length, Scalar *&amp;oldData)</arglist>
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      <arglist>(MatrixHelperRep&lt; Scalar &gt; *hrep)</arglist>
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      <arglist>(const VectorBase&lt; EE &gt; &amp;v)</arglist>
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      <arglist>(const VectorBase&lt; EE &gt; &amp;v, typename MatrixBase&lt; ELT &gt;::template EltResult&lt; EE &gt;::Mul &amp;out) const</arglist>
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      <arglist>(const VectorBase&lt; ER &gt; &amp;r, const VectorBase&lt; EC &gt; &amp;c)</arglist>
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      <arglist>(const S &amp;s)</arglist>
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      <arglist>(const S &amp;s)</arglist>
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      <arglist>(const S &amp;s)</arglist>
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      <arglist>(const S &amp;s, typename MatrixBase&lt; ELT &gt;::template EltResult&lt; S &gt;::Sub &amp;out) const</arglist>
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      <arglist>(const S &amp;s)</arglist>
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      <arglist>(const MatrixBase&lt; EE &gt; &amp;r)</arglist>
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      <arglist>(const MatrixBase&lt; EE &gt; &amp;r, typename MatrixBase&lt; ELT &gt;::template EltResult&lt; EE &gt;::Mul &amp;out) const</arglist>
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      <arglist>(const MatrixBase&lt; EE &gt; &amp;r)</arglist>
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      <arglist>(const MatrixBase&lt; EE &gt; &amp;r)</arglist>
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      <arglist>(const MatrixBase&lt; EE &gt; &amp;r, typename MatrixBase&lt; ELT &gt;::template EltResult&lt; EE &gt;::Dvd &amp;out) const</arglist>
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      <arglist>(const MatrixBase&lt; EE &gt; &amp;r)</arglist>
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      <arglist>(const MatrixCommitment &amp;commitment, const MatrixCharacter &amp;character, int spacing, const Scalar *data)</arglist>
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      <arglist>(const MatrixCommitment &amp;commitment, const MatrixCharacter &amp;character, int spacing, Scalar *data)</arglist>
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      <arglist>() const</arglist>
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      <arglist></arglist>
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      <arglist>(std::ostream &amp;o, const MatrixBase&lt; E &gt; &amp;v)</arglist>
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      <arglist>(const MatrixCommitment &amp;commitment, const MatrixCharacter &amp;character, int spacing, const Scalar *data)</arglist>
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      <arglist>(const MatrixCommitment &amp;commitment, const MatrixCharacter &amp;character, int spacing, Scalar *data)</arglist>
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      <arglist>(std::ostream &amp;o, const MatrixBase&lt; E &gt; &amp;v)</arglist>
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      <arglist>(Real sf)</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const override</arglist>
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      <type>int</type>
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      <arglist>() const override</arglist>
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      <arglist>(int order) const override</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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      <anchorfile>classSimTK_1_1Measure___1_1Time.html</anchorfile>
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      <arglist>(Time, Measure_&lt; T &gt;)</arglist>
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      <arglist>(Time, Measure_&lt; T &gt;)</arglist>
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      <arglist>() const override</arglist>
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      <arglist>(int derivOrder) const override</arglist>
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      <arglist>() const override</arglist>
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      <arglist>(State &amp;state, const T &amp;value) const</arglist>
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      <anchorfile>classSimTK_1_1Measure___1_1Variable.html</anchorfile>
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      <arglist>(Variable, Measure_&lt; T &gt;)</arglist>
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      <arglist>()</arglist>
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      <arglist>(Stage invalidates)</arglist>
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      <arglist>() const override</arglist>
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      <arglist>() const override</arglist>
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      <arglist>(int derivOrder) const override</arglist>
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      <arglist>(const State &amp;s, int derivOrder) const override</arglist>
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      <arglist>(State &amp;s) const override</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
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      <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>
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      <type>bool</type>
      <name>isLocked</name>
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      <arglist>(const State &amp;state) const</arglist>
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      <name>getLockLevel</name>
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      <arglist>(const State &amp;state) const</arglist>
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      <name>getLockValueAsVector</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a2aea5db74ec60676b4821377f6965cbe</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <name>lockByDefault</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ad2ce01929e755ef3263417367a5fada4</anchor>
      <arglist>(Motion::Level level=Motion::Position)</arglist>
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      <type>bool</type>
      <name>isLockedByDefault</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a978094bf010215ddcc06050578f40ab1</anchor>
      <arglist>() const</arglist>
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      <type>Motion::Level</type>
      <name>getLockByDefaultLevel</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
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      <arglist>() const</arglist>
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      <name>getBodyTransform</name>
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      <arglist>(const State &amp;state) const</arglist>
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      <name>getBodyRotation</name>
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      <anchor>a4aa0c6e8f05c24f81806149e0707dd29</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const Vec3 &amp;</type>
      <name>getBodyOriginLocation</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a26faebc8f4e9f7292b7d5a3b6941e1b2</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <name>getMobilizerTransform</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>af7eacb82276bf4df6b2b5a74d20eede6</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const SpatialVec &amp;</type>
      <name>getBodyVelocity</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a3403412b230f4560cfd38497868563a6</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const Vec3 &amp;</type>
      <name>getBodyAngularVelocity</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a6c62ed5bcbfdc3401ad0dbf35e5510c6</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const Vec3 &amp;</type>
      <name>getBodyOriginVelocity</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a3d6596d07ffd00dce650fb1d199e38f3</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const SpatialVec &amp;</type>
      <name>getMobilizerVelocity</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a753dfd265a729ae6761a8da26268b993</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const SpatialVec &amp;</type>
      <name>getBodyAcceleration</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a6ef7b2fd892b4004ac716d1dc98f5b7e</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getBodyAngularAcceleration</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a75a07d3d63f5f04f9ab20c883c814217</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getBodyOriginAcceleration</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a1ca25c463aa19501bb890e886b685d95</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>a64c4198643de17b6996f7de6cbb653aa</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>adb95a34a7b1d198f17ec3a7e5e209a94</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>a0483fad6049123dfae0c3765cb673d11</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>a5bbca239eb43431676bccbbc66efb089</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>a7c4ef4355fb9b7d97cde1e427a52a961</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>a1188bdbe89457310c38cf2fef0c74aad</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>a2b4168682aface36ec3777ac00af949f</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <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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      <name>setOutboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>aff37bf8c88abee7d926aa66d19e9646c</anchor>
      <arglist>(State &amp;state, const Transform &amp;X_BM) const</arglist>
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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>
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      <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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      <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>
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      <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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      <type>Real</type>
      <name>getOneU</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a82739d0f696a851dbf62dd4ec25b24e2</anchor>
      <arglist>(const State &amp;state, int which) const</arglist>
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      <type>Vector</type>
      <name>getQAsVector</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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      <type>Vector</type>
      <name>getUAsVector</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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      <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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      <type>Vector</type>
      <name>getQDotAsVector</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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      <type>Real</type>
      <name>getOneUDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a834c5b6f05ea634e3f57ffc26d2f2ce9</anchor>
      <arglist>(const State &amp;state, int which) const</arglist>
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      <type>Real</type>
      <name>getOneQDotDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a3a5623196e562e162b927683369d39c0</anchor>
      <arglist>(const State &amp;state, int which) const</arglist>
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      <type>Vector</type>
      <name>getUDotAsVector</name>
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      <arglist>(const State &amp;state) const</arglist>
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      <type>Vector</type>
      <name>getQDotDotAsVector</name>
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      <arglist>(const State &amp;state) const</arglist>
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      <type>Vector</type>
      <name>getTauAsVector</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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      <type>Real</type>
      <name>getOneTau</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
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      <arglist>(const State &amp;state, MobilizerUIndex which) const</arglist>
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      <name>setOneQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
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      <arglist>(State &amp;state, int which, Real v) const</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
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      <arglist>(State &amp;state, int which, Real v) const</arglist>
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      <name>setQFromVector</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
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      <arglist>(State &amp;state, const Vector &amp;v) const</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a9bf0c2277664295a20236f119e1dee95</anchor>
      <arglist>(State &amp;state, const Vector &amp;v) const</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
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      <arglist>(State &amp;state, const Transform &amp;X_FM) const</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a875ecb7e454c3bffa09987468ae5ffdb</anchor>
      <arglist>(State &amp;state, const Rotation &amp;R_FM) const</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>afba1f7a6cba78b3d8df12561c8858743</anchor>
      <arglist>(State &amp;state, const Vec3 &amp;p_FM) const</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>afe76e0b6153fd19b8d49720aec2a88c7</anchor>
      <arglist>(State &amp;state, const SpatialVec &amp;V_FM) const</arglist>
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      <type>void</type>
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      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a6038a45c6b6653b31acbe263ded21cbf</anchor>
      <arglist>(State &amp;state, const Vec3 &amp;w_FM) const</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ac9f6bada3a91b8383a9b5f8d68e2f9a1</anchor>
      <arglist>(State &amp;state, const Vec3 &amp;v_FM) const</arglist>
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      <type>SpatialVec</type>
      <name>getHCol</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a3f33a3d81249f661974eb1899f0a9ca4</anchor>
      <arglist>(const State &amp;state, MobilizerUIndex ux) const</arglist>
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      <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>
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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>
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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>
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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>
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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>
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      <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>
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      <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>
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    <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>a9105490196ef209b42f0cac5e0ed8ffb</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Body &amp;</type>
      <name>updBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a9358088e62eaaf75e211865cbe4d424e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>MobilizedBody &amp;</type>
      <name>setBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>af042b9833264e0bc6e6c23aa6c493e86</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>a1063db939b16b7dd52b02d3964abff5c</anchor>
      <arglist>(int i) const</arglist>
    </member>
    <member kind="function">
      <type>DecorativeGeometry &amp;</type>
      <name>updOutboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a88db4c6d9ed2254daebf3d4a565503aa</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>a580115e07be20ecda317fa503ad5224f</anchor>
      <arglist>(int i) const</arglist>
    </member>
    <member kind="function">
      <type>DecorativeGeometry &amp;</type>
      <name>updInboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a2d5f44dbd2923414770f9856249b7d92</anchor>
      <arglist>(int i)</arglist>
    </member>
    <member kind="function">
      <type>MobilizedBody &amp;</type>
      <name>setDefaultMassProperties</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ae7d39d64624999bb1be1e84340e37ecd</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>a8966766a2946f603f64230dc1138560b</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>ac4d5bcc40f6061a89b4afe4edf1a0d94</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MobilizedBody &amp;</type>
      <name>setDefaultInboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ab76909d6818a4d2c4f42bdcd85ac45cf</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>a2dc0945ea9d71680cd9fbfd79c1d28fa</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>a8124d08e63a7f7ca3b20de3c48e6395c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Transform &amp;</type>
      <name>getDefaultOutboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a18a679485b322cc5ea36e2dba58106f7</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>a8410bca30650b57e1a7c6ee79335db5a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const MobilizedBody &amp;</type>
      <name>getBaseMobilizedBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a0af37b6edf55fccd461b9d2a476d6b41</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const SimbodyMatterSubsystem &amp;</type>
      <name>getMatterSubsystem</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ac2af0833503da54c3b049f26a0342385</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SimbodyMatterSubsystem &amp;</type>
      <name>updMatterSubsystem</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a05804d142fd313edb68ed353b4ff55ed</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>
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    <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>
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      <type>bool</type>
      <name>isSameMobilizedBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
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      <arglist>(const MobilizedBody &amp;mobod) const</arglist>
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      <type>bool</type>
      <name>isGround</name>
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      <arglist>() const</arglist>
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      <type>int</type>
      <name>getLevelInMultibodyTree</name>
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      <arglist>() const</arglist>
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      <type>MobilizedBody &amp;</type>
      <name>cloneForNewParent</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
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      <arglist>(MobilizedBody &amp;parent) const</arglist>
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      <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>
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    <member kind="function">
      <type>Real &amp;</type>
      <name>updOneFromQPartition</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ad0d0095d65d4ac9039a7efadd0ad8e6f</anchor>
      <arglist>(const State &amp;state, int which, Vector &amp;qlike) const</arglist>
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      <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>
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      <type>Real &amp;</type>
      <name>updOneFromUPartition</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a6384955d533a82b87197087085113e17</anchor>
      <arglist>(const State &amp;state, int which, Vector &amp;ulike) const</arglist>
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      <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>
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      <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>
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      <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>
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      <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>
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      <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>
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      <arglist></arglist>
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    <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>
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      <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>
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      <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>
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      <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>
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      <type>void</type>
      <name>unlock</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ad724a06a0278a94ce702603d8dfb7ffd</anchor>
      <arglist>(State &amp;state) const</arglist>
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      <type>bool</type>
      <name>isLocked</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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      <type>Motion::Level</type>
      <name>getLockLevel</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a7fa69ba47e6e3341f6012df0ab81216a</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>Vector</type>
      <name>getLockValueAsVector</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a2aea5db74ec60676b4821377f6965cbe</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>MobilizedBody &amp;</type>
      <name>lockByDefault</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ad2ce01929e755ef3263417367a5fada4</anchor>
      <arglist>(Motion::Level level=Motion::Position)</arglist>
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      <type>bool</type>
      <name>isLockedByDefault</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a978094bf010215ddcc06050578f40ab1</anchor>
      <arglist>() const</arglist>
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      <type>Motion::Level</type>
      <name>getLockByDefaultLevel</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a98fe6a82d47c5967aede695770bcbf70</anchor>
      <arglist>() const</arglist>
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      <type>const Transform &amp;</type>
      <name>getBodyTransform</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a196a3e8b1dce3b4e9ae0ff5c25bceffd</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const Rotation &amp;</type>
      <name>getBodyRotation</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a4aa0c6e8f05c24f81806149e0707dd29</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const Vec3 &amp;</type>
      <name>getBodyOriginLocation</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a26faebc8f4e9f7292b7d5a3b6941e1b2</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const Transform &amp;</type>
      <name>getMobilizerTransform</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>af7eacb82276bf4df6b2b5a74d20eede6</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const SpatialVec &amp;</type>
      <name>getBodyVelocity</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a3403412b230f4560cfd38497868563a6</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const Vec3 &amp;</type>
      <name>getBodyAngularVelocity</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a6c62ed5bcbfdc3401ad0dbf35e5510c6</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const Vec3 &amp;</type>
      <name>getBodyOriginVelocity</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a3d6596d07ffd00dce650fb1d199e38f3</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function">
      <type>const SpatialVec &amp;</type>
      <name>getMobilizerVelocity</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a753dfd265a729ae6761a8da26268b993</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const SpatialVec &amp;</type>
      <name>getBodyAcceleration</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a6ef7b2fd892b4004ac716d1dc98f5b7e</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const Vec3 &amp;</type>
      <name>getBodyAngularAcceleration</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a75a07d3d63f5f04f9ab20c883c814217</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const Vec3 &amp;</type>
      <name>getBodyOriginAcceleration</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a1ca25c463aa19501bb890e886b685d95</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const SpatialVec &amp;</type>
      <name>getMobilizerAcceleration</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a64c4198643de17b6996f7de6cbb653aa</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>adb95a34a7b1d198f17ec3a7e5e209a94</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>a0483fad6049123dfae0c3765cb673d11</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>a5bbca239eb43431676bccbbc66efb089</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>a7c4ef4355fb9b7d97cde1e427a52a961</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>a1188bdbe89457310c38cf2fef0c74aad</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>
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      <arglist>(const State &amp;state) const</arglist>
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      <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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      <name>setOutboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>aff37bf8c88abee7d926aa66d19e9646c</anchor>
      <arglist>(State &amp;state, const Transform &amp;X_BM) const</arglist>
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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>
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      <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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      <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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      <type>UIndex</type>
      <name>getFirstUIndex</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
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      <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>
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      <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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      <type>Real</type>
      <name>getOneU</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a82739d0f696a851dbf62dd4ec25b24e2</anchor>
      <arglist>(const State &amp;state, int which) const</arglist>
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      <type>Vector</type>
      <name>getQAsVector</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a57ed3b3d70ba81279a0cb8e1dd001fb9</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>Vector</type>
      <name>getUAsVector</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>af962c96575c037d160cead1ac4f63b57</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <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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      <type>Vector</type>
      <name>getQDotAsVector</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>acc76a7933109c5beedce28d18949177f</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <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>
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    <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>
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      <type>Vector</type>
      <name>getUDotAsVector</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a8f107a478bbd7f15d637dddd958ea7e3</anchor>
      <arglist>(const State &amp;state) const</arglist>
    </member>
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      <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>
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    <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>
    </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>a9105490196ef209b42f0cac5e0ed8ffb</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Body &amp;</type>
      <name>updBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a9358088e62eaaf75e211865cbe4d424e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>MobilizedBody &amp;</type>
      <name>setBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>af042b9833264e0bc6e6c23aa6c493e86</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>a1063db939b16b7dd52b02d3964abff5c</anchor>
      <arglist>(int i) const</arglist>
    </member>
    <member kind="function">
      <type>DecorativeGeometry &amp;</type>
      <name>updOutboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a88db4c6d9ed2254daebf3d4a565503aa</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>a580115e07be20ecda317fa503ad5224f</anchor>
      <arglist>(int i) const</arglist>
    </member>
    <member kind="function">
      <type>DecorativeGeometry &amp;</type>
      <name>updInboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a2d5f44dbd2923414770f9856249b7d92</anchor>
      <arglist>(int i)</arglist>
    </member>
    <member kind="function">
      <type>MobilizedBody &amp;</type>
      <name>setDefaultMassProperties</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ae7d39d64624999bb1be1e84340e37ecd</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>a8966766a2946f603f64230dc1138560b</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>ac4d5bcc40f6061a89b4afe4edf1a0d94</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>MobilizedBody &amp;</type>
      <name>setDefaultInboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ab76909d6818a4d2c4f42bdcd85ac45cf</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>a2dc0945ea9d71680cd9fbfd79c1d28fa</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>a8124d08e63a7f7ca3b20de3c48e6395c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Transform &amp;</type>
      <name>getDefaultOutboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a18a679485b322cc5ea36e2dba58106f7</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>a8410bca30650b57e1a7c6ee79335db5a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const MobilizedBody &amp;</type>
      <name>getBaseMobilizedBody</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a0af37b6edf55fccd461b9d2a476d6b41</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const SimbodyMatterSubsystem &amp;</type>
      <name>getMatterSubsystem</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>ac2af0833503da54c3b049f26a0342385</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SimbodyMatterSubsystem &amp;</type>
      <name>updMatterSubsystem</name>
      <anchorfile>classSimTK_1_1MobilizedBody.html</anchorfile>
      <anchor>a05804d142fd313edb68ed353b4ff55ed</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>a0b4a40db0640e4af645a86eed18cdab0</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>ad0d0095d65d4ac9039a7efadd0ad8e6f</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>a6384955d533a82b87197087085113e17</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>a47daa1696862b79b408c932b770cedf1</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>ac852293cff41a01d9c16e9a0fd2c0ca1</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>a950c9bc321b929512681958aeb630035</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>a817e74dde64b1acd01d9b3ec6e87c148</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>a43797785727dadaa968b26f1bf2fc890</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>aff398df4e47627b27152148fe4d1bc12</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>ad3ca5b19d3035bb1f6a53d974012712d</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>
    </member>
    <member kind="function">
      <type>const Quaternion &amp;</type>
      <name>getDefaultQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ball.html</anchorfile>
      <anchor>a121b4ba1e653243b8fcfa0d66e8ce975</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>a9976d120d391a41ce1c900a383f3146a</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>a1a107fc6d9cb9068d7c8da7faf0ec171</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec4 &amp;</type>
      <name>getQDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ball.html</anchorfile>
      <anchor>ae5b062c13814e94c0a7732dc1c84f30d</anchor>
      <arglist>(const State &amp;) const</arglist>
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    <member kind="function">
      <type>const Vec4 &amp;</type>
      <name>getQDotDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ball.html</anchorfile>
      <anchor>aec44147721166af5eff56df0703e37a7</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>a18c3ddf2adbe59b7ecb99d07813de08a</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>a74f924f1bfe3f25b19f09058903fb2cd</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>
    </member>
    <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>
    </member>
    <member kind="function">
      <type>const Vec4 &amp;</type>
      <name>getMyPartQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ball.html</anchorfile>
      <anchor>aa2a0190c8a88e0abb8a31e61b69d80cb</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>a60c7291fb8d52e1dc5ad8e3b0e399040</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>aac2c9ad5e7daace152aa369a05e139b9</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>ad4baecd737ab7c9e9ddc7e79629ca1c8</anchor>
      <arglist>(const State &amp;, Vector &amp;ulike) const</arglist>
    </member>
  </compound>
  <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>
    </member>
    <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>a291a7148d670168a5a655674694f8309</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>a693f88cb02a150ea6dd97ba818891312</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>aa26ff647c74b938e4f1a2a23b5399cd6</anchor>
      <arglist>(const Transform &amp;X_FD, const DecorativeGeometry &amp;g)</arglist>
    </member>
    <member kind="function">
      <type>BendStretch &amp;</type>
      <name>setDefaultInboardFrame</name>
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      <anchor>a63c33e7d9edb2d11efd6ae3d7119d29e</anchor>
      <arglist>(const Transform &amp;X_PF)</arglist>
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    <member kind="function">
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      <name>setDefaultOutboardFrame</name>
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      <arglist>(const Transform &amp;X_BM)</arglist>
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    <member kind="function">
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1Bushing.html</anchorfile>
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      <arglist>()</arglist>
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      <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">
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1Bushing.html</anchorfile>
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      <arglist>(MobilizedBody &amp;parent, const Body &amp;bodyInfo, Direction=Forward)</arglist>
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      <name>setDefaultInboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Bushing.html</anchorfile>
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      <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>
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      <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>
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      <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>
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      <arglist>() const</arglist>
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      <type>Bushing &amp;</type>
      <name>addBodyDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Bushing.html</anchorfile>
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      <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>a1a453846c554ba32af3a95c4d24e12ec</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>
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      <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>a76a85f844e5202ca6bc8ba3ffa57ee10</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>
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      <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>a360fe8801470af30da7cda14ad44540e</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>const Vec6 &amp;</type>
      <name>getQDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Bushing.html</anchorfile>
      <anchor>af9eabfb59ff4ddc3699f7fb65f31061e</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>a0fc55d2c4d6789e99ecefb209d32099c</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>af8122ba3452a5d4a17d909c91bd5624f</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>a131fd5534a38ce6e33ebe908aec9d64a</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>
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      <type>const Vec6 &amp;</type>
      <name>getMyPartQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Bushing.html</anchorfile>
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      <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>
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      <arglist>(const State &amp;state, const Vector &amp;ulike) const</arglist>
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      <type>Vec6 &amp;</type>
      <name>updMyPartQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Bushing.html</anchorfile>
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      <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>
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      <arglist>(const State &amp;state, Vector &amp;ulike) const</arglist>
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      <name>getMyPartQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Bushing.html</anchorfile>
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      <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>
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      <arglist>(const State &amp;state, const Vector &amp;ulike) const</arglist>
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      <name>updMyPartQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Bushing.html</anchorfile>
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      <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>
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      <arglist>(const State &amp;state, Vector &amp;ulike) const</arglist>
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    <name>SimTK::MobilizedBody::Custom</name>
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    <base>SimTK::MobilizedBody</base>
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      <type></type>
      <name>Custom</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom.html</anchorfile>
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      <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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      <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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      <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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      <name>updImplementation</name>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <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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      <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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      <type>Vector</type>
      <name>getU</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>getQDot</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>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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      <type>Transform</type>
      <name>getMobilizerTransform</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>SpatialVec</type>
      <name>getMobilizerVelocity</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>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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      <type>void</type>
      <name>invalidateTopologyCache</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>virtual Transform</type>
      <name>calcMobilizerTransformFromQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
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      <arglist>(const State &amp;s, int nq, const Real *q) const =0</arglist>
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      <type>virtual SpatialVec</type>
      <name>multiplyByHMatrix</name>
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      <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>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>
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      <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>
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      <arglist>(const State &amp;s, const SpatialVec &amp;F, int nu, Real *f) const =0</arglist>
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      <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>
      <anchor>ac04afff24354fd20e81f4b7b87ea9bf1</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>
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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>
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      <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>
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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>
      <anchor>a9ea271909c3354dbb277522b9c3a64aa</anchor>
      <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>
      <anchor>a2fe717a7b4a761f997dd581dff3f885f</anchor>
      <arglist></arglist>
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      <type>virtual void</type>
      <name>realizeTopology</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a52cdc3f33617de881243ec6cc8f7c710</anchor>
      <arglist>(State &amp;) const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>realizeModel</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a05870f24e8583239754e06680580f6f2</anchor>
      <arglist>(State &amp;) const</arglist>
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      <type>virtual void</type>
      <name>realizeInstance</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>ab00e48b596f3241f7429acaff69828bb</anchor>
      <arglist>(const State &amp;) const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>realizeTime</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a660348bcbec9d9c65a9eae2d90dbe82f</anchor>
      <arglist>(const State &amp;) const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>realizePosition</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a4ba80865dc2ae89f2b4f96f1d1cca906</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>realizeVelocity</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a0c20e9a5496a106743f278f2944b67a8</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>realizeDynamics</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>aba58db2f2e56cae36818c386d0f50aef</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <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>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>realizeReport</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>ae9ec3db960dd7c2d3f9c9cb3d131e408</anchor>
      <arglist>(const State &amp;) 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>
    </member>
    <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>
    </member>
    <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>
      <anchor>ac04afff24354fd20e81f4b7b87ea9bf1</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>multiplyByNDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>ae9d5b29ebbfb2b74902b9e01ca73dbc6</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>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>
    </member>
    <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>
  </compound>
  <compound kind="class">
    <name>SimTK::MobilizedBody::Cylinder</name>
    <filename>classSimTK_1_1MobilizedBody_1_1Cylinder.html</filename>
    <base>SimTK::MobilizedBody</base>
    <member kind="function">
      <type></type>
      <name>Cylinder</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Cylinder.html</anchorfile>
      <anchor>a3781b83ed4facffaf104fec98342367f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Cylinder</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Cylinder.html</anchorfile>
      <anchor>a9cf97e0954b07e5cf98374ddb5160fcb</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>Cylinder</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Cylinder.html</anchorfile>
      <anchor>ac2e5d8577df47bd758de40f438fd5775</anchor>
      <arglist>(MobilizedBody &amp;parent, const Body &amp;bodyInfo, Direction=Forward)</arglist>
    </member>
    <member kind="function">
      <type>Cylinder &amp;</type>
      <name>addBodyDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Cylinder.html</anchorfile>
      <anchor>a2851f5db0c7212587d0ee01c3e1976fb</anchor>
      <arglist>(const Transform &amp;X_BD, const DecorativeGeometry &amp;g)</arglist>
    </member>
    <member kind="function">
      <type>Cylinder &amp;</type>
      <name>addOutboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Cylinder.html</anchorfile>
      <anchor>ae03393c24f3179d4c859e7556648fd99</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>aa78bb770839152dbb4cce1095fb89511</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>
      <anchor>a76e75dece1f3759d93c79657e605b915</anchor>
      <arglist>(const Transform &amp;X_PF)</arglist>
    </member>
    <member kind="function">
      <type>Cylinder &amp;</type>
      <name>setDefaultOutboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Cylinder.html</anchorfile>
      <anchor>aa0f2bebd54fb651e7fae880513b3e895</anchor>
      <arglist>(const Transform &amp;X_BM)</arglist>
    </member>
  </compound>
  <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">
      <type></type>
      <name>Ellipsoid</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ellipsoid.html</anchorfile>
      <anchor>a71b7d5df9652116add56b70969313151</anchor>
      <arglist>(MobilizedBody &amp;parent, const Body &amp;bodyInfo, const Vec3 &amp;radii, Direction=Forward)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Ellipsoid</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ellipsoid.html</anchorfile>
      <anchor>aa7b655c70d4bd7dd6995a12888e58e04</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>Ellipsoid</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ellipsoid.html</anchorfile>
      <anchor>abc29e79246c7e78ffd1999ed31107c0d</anchor>
      <arglist>(MobilizedBody &amp;parent, const Body &amp;bodyInfo, Direction=Forward)</arglist>
    </member>
    <member kind="function">
      <type>Ellipsoid &amp;</type>
      <name>setDefaultRadii</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ellipsoid.html</anchorfile>
      <anchor>ae59fb17b583b9067d552c5ff25f1da62</anchor>
      <arglist>(const Vec3 &amp;radii)</arglist>
    </member>
    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getDefaultRadii</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ellipsoid.html</anchorfile>
      <anchor>a15215224dfa93546791d2ce07444cc1d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Ellipsoid &amp;</type>
      <name>setDefaultRotation</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ellipsoid.html</anchorfile>
      <anchor>ab8aec3974859f146e187d756d5999ab2</anchor>
      <arglist>(const Rotation &amp;R_FM)</arglist>
    </member>
    <member kind="function">
      <type>Rotation</type>
      <name>getDefaultRotation</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ellipsoid.html</anchorfile>
      <anchor>a1b5616a622419d724f82228af14076b6</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Ellipsoid &amp;</type>
      <name>addBodyDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ellipsoid.html</anchorfile>
      <anchor>a6b09e7dcd40b81fc788c7787a6919ed4</anchor>
      <arglist>(const Transform &amp;X_BD, const DecorativeGeometry &amp;g)</arglist>
    </member>
    <member kind="function">
      <type>Ellipsoid &amp;</type>
      <name>addOutboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ellipsoid.html</anchorfile>
      <anchor>a261464bdd2cfdbca6163f8759955f479</anchor>
      <arglist>(const Transform &amp;X_MD, const DecorativeGeometry &amp;g)</arglist>
    </member>
    <member kind="function">
      <type>Ellipsoid &amp;</type>
      <name>addInboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ellipsoid.html</anchorfile>
      <anchor>a2a2e15dddc15a0a7413866f02246f828</anchor>
      <arglist>(const Transform &amp;X_FD, const DecorativeGeometry &amp;g)</arglist>
    </member>
    <member kind="function">
      <type>Ellipsoid &amp;</type>
      <name>setDefaultInboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ellipsoid.html</anchorfile>
      <anchor>ae8269ccb0cef272ebb0f8f645226494c</anchor>
      <arglist>(const Transform &amp;X_PF)</arglist>
    </member>
    <member kind="function">
      <type>Ellipsoid &amp;</type>
      <name>setDefaultOutboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ellipsoid.html</anchorfile>
      <anchor>a47c99eaf024f39b1faa22b5f68b113bd</anchor>
      <arglist>(const Transform &amp;X_BM)</arglist>
    </member>
    <member kind="function">
      <type>const Quaternion &amp;</type>
      <name>getDefaultQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ellipsoid.html</anchorfile>
      <anchor>abbf82c75369699ccd01b57ddffcb14b8</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>Quaternion &amp;</type>
      <name>updDefaultQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ellipsoid.html</anchorfile>
      <anchor>a42dfc4922ae040c65ec9b452f9f6f5ca</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>Ellipsoid &amp;</type>
      <name>setDefaultQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ellipsoid.html</anchorfile>
      <anchor>aaeabb4fb4e1101bbe9acfb698d0c7d38</anchor>
      <arglist>(const Quaternion &amp;q)</arglist>
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    <member kind="function">
      <type>const Vec4 &amp;</type>
      <name>getQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ellipsoid.html</anchorfile>
      <anchor>afd43b4dddd437001c8fe75071f3fe99c</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_1Ellipsoid.html</anchorfile>
      <anchor>a113492039c24110e92256cb36c6dba8e</anchor>
      <arglist>(const State &amp;) const</arglist>
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      <type>const Vec4 &amp;</type>
      <name>getQDotDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ellipsoid.html</anchorfile>
      <anchor>a62f32eabd47347257aeb2fda88ad0762</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ellipsoid.html</anchorfile>
      <anchor>a3190226c2891daecea81c2504ea06be3</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_1Ellipsoid.html</anchorfile>
      <anchor>a271513ade44be0eeeb08339f592800d2</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_1Ellipsoid.html</anchorfile>
      <anchor>a9bc0fa228be78bf80f0e87724e3335cb</anchor>
      <arglist>(State &amp;, const Vec4 &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ellipsoid.html</anchorfile>
      <anchor>a1fbe2a7de15d67c707b9fb679b42c302</anchor>
      <arglist>(State &amp;, const Vec3 &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec4 &amp;</type>
      <name>getMyPartQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ellipsoid.html</anchorfile>
      <anchor>aafae7bdc3bbe73c305e4b87e4f2f3f92</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_1Ellipsoid.html</anchorfile>
      <anchor>a81a2132aba050e03557d33b3afec593d</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_1Ellipsoid.html</anchorfile>
      <anchor>a3730a2bfde5a652af8907c2833ebf8ed</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_1Ellipsoid.html</anchorfile>
      <anchor>a1ccf0b90d83c63a1062677b7078d8887</anchor>
      <arglist>(const State &amp;, Vector &amp;ulike) const</arglist>
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  </compound>
  <compound kind="class">
    <name>SimTK::MobilizedBody::Free</name>
    <filename>classSimTK_1_1MobilizedBody_1_1Free.html</filename>
    <base>SimTK::MobilizedBody</base>
    <member kind="function">
      <type></type>
      <name>Free</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Free.html</anchorfile>
      <anchor>a4c0cbfeaf6e6dd28dc8caca6234215f4</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>Free</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Free.html</anchorfile>
      <anchor>aca45ae4de0cbd4c7db1547d6b98aeda1</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>Free</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Free.html</anchorfile>
      <anchor>aba2662c60e9c1a2fc923083e3949b9ef</anchor>
      <arglist>(MobilizedBody &amp;parent, const Body &amp;bodyInfo, Direction=Forward)</arglist>
    </member>
    <member kind="function">
      <type>Free &amp;</type>
      <name>addBodyDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Free.html</anchorfile>
      <anchor>a3dc527e6ac3ebe0c8f59368425bce4cf</anchor>
      <arglist>(const Transform &amp;X_BD, const DecorativeGeometry &amp;g)</arglist>
    </member>
    <member kind="function">
      <type>Free &amp;</type>
      <name>addOutboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Free.html</anchorfile>
      <anchor>a274ba29fa999691edd3ec4c2d504d7ea</anchor>
      <arglist>(const Transform &amp;X_MD, const DecorativeGeometry &amp;g)</arglist>
    </member>
    <member kind="function">
      <type>Free &amp;</type>
      <name>addInboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Free.html</anchorfile>
      <anchor>a8db937ccb2b5d75a4af8217b2cef0700</anchor>
      <arglist>(const Transform &amp;X_FD, const DecorativeGeometry &amp;g)</arglist>
    </member>
    <member kind="function">
      <type>Free &amp;</type>
      <name>setDefaultInboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Free.html</anchorfile>
      <anchor>aa6ed14e23be6743a5ace943c3773c0e1</anchor>
      <arglist>(const Transform &amp;X_PF)</arglist>
    </member>
    <member kind="function">
      <type>Free &amp;</type>
      <name>setDefaultOutboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Free.html</anchorfile>
      <anchor>ad67054b7045deafc2db78583d2eb2bc9</anchor>
      <arglist>(const Transform &amp;X_BM)</arglist>
    </member>
    <member kind="function">
      <type>Free &amp;</type>
      <name>setDefaultTranslation</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Free.html</anchorfile>
      <anchor>a6c7f0c040e093d8a44fa272890829413</anchor>
      <arglist>(const Vec3 &amp;)</arglist>
    </member>
    <member kind="function">
      <type>Free &amp;</type>
      <name>setDefaultQuaternion</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Free.html</anchorfile>
      <anchor>af5741eb3450e1a8ca7e0689a73e2c1b4</anchor>
      <arglist>(const Quaternion &amp;)</arglist>
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      <name>setDefaultRotation</name>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1Free.html</anchorfile>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1Free.html</anchorfile>
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      <arglist>() const</arglist>
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      <name>getDefaultQ</name>
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      <anchor>a6e7634805dd4faed7b9d8cca0fab9502</anchor>
      <arglist>() const</arglist>
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      <arglist>(const Transform &amp;X_BD, const DecorativeGeometry &amp;g)</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1FreeLine.html</anchorfile>
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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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      <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, Direction direction=Forward)</arglist>
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      <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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      <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 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>()</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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    <member kind="function">
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      <arglist>(MobilizedBody &amp;parent, const Body &amp;bodyInfo, Direction=Forward)</arglist>
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      <type>Gimbal &amp;</type>
      <name>setDefaultInboardFrame</name>
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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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      <name>addBodyDecoration</name>
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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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      <name>addInboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Gimbal.html</anchorfile>
      <anchor>ad657abad433aa4d63dd86449b4666547</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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      <anchorfile>classSimTK_1_1MobilizedBody_1_1Gimbal.html</anchorfile>
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      <arglist>() const</arglist>
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      <name>getDefaultQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Gimbal.html</anchorfile>
      <anchor>aaa52837245614b8ed75c4a7b068cf308</anchor>
      <arglist>() const</arglist>
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      <type>Gimbal &amp;</type>
      <name>setDefaultQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Gimbal.html</anchorfile>
      <anchor>ae6d182fa96ef9b66622d940fe896e132</anchor>
      <arglist>(const Vec3 &amp;q)</arglist>
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      <name>getQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Gimbal.html</anchorfile>
      <anchor>a2fbc02f2ed6e8b29b58ce95bbd3c9933</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <name>getQDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Gimbal.html</anchorfile>
      <anchor>a2a3ca51c31d4d0b35a74904ed582ee3b</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <name>getQDotDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Gimbal.html</anchorfile>
      <anchor>afe821cb08332532938f28b6da098a1f1</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <name>getU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Gimbal.html</anchorfile>
      <anchor>a2c9a1d277c38eaf406528031e2f1f812</anchor>
      <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>ad2b6204765a7bf32633f71b4cfcdfad5</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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      <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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      <type>const Vec3 &amp;</type>
      <name>getMyPartQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Gimbal.html</anchorfile>
      <anchor>ad7da2d2cc6591dee0a1ec5ac1eabc292</anchor>
      <arglist>(const State &amp;state, const Vector &amp;qlike) const</arglist>
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      <type>const Vec3 &amp;</type>
      <name>getMyPartU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Gimbal.html</anchorfile>
      <anchor>a15e75dc64d619ea87d34fe930f586e5d</anchor>
      <arglist>(const State &amp;state, const Vector &amp;ulike) const</arglist>
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      <type>Vec3 &amp;</type>
      <name>updMyPartQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Gimbal.html</anchorfile>
      <anchor>aab9cd0a1477979d44103128631aa2c48</anchor>
      <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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    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getMyPartQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Gimbal.html</anchorfile>
      <anchor>ad7da2d2cc6591dee0a1ec5ac1eabc292</anchor>
      <arglist>(const State &amp;state, const Vector &amp;qlike) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getMyPartU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Gimbal.html</anchorfile>
      <anchor>a15e75dc64d619ea87d34fe930f586e5d</anchor>
      <arglist>(const State &amp;state, const Vector &amp;ulike) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3 &amp;</type>
      <name>updMyPartQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Gimbal.html</anchorfile>
      <anchor>aab9cd0a1477979d44103128631aa2c48</anchor>
      <arglist>(const State &amp;state, Vector &amp;qlike) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3 &amp;</type>
      <name>updMyPartU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Gimbal.html</anchorfile>
      <anchor>a72c2ff097cc14aa77a4cfd738defeab1</anchor>
      <arglist>(const State &amp;state, Vector &amp;ulike) const</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::MobilizedBody::Ground</name>
    <filename>classSimTK_1_1MobilizedBody_1_1Ground.html</filename>
    <base>SimTK::MobilizedBody</base>
    <member kind="function">
      <type></type>
      <name>Ground</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ground.html</anchorfile>
      <anchor>aab412a88542fe13d924b29719a5ee02f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Ground &amp;</type>
      <name>addBodyDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Ground.html</anchorfile>
      <anchor>a75a8304a1164bb1799940b5c07fb2ac9</anchor>
      <arglist>(const Transform &amp;X_GD, const DecorativeGeometry &amp;artwork)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::MobilizedBody::LineOrientation</name>
    <filename>classSimTK_1_1MobilizedBody_1_1LineOrientation.html</filename>
    <base>SimTK::MobilizedBody</base>
    <member kind="function">
      <type></type>
      <name>LineOrientation</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1LineOrientation.html</anchorfile>
      <anchor>a27913a779327254a6fd822b8c7cd22bf</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>LineOrientation</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1LineOrientation.html</anchorfile>
      <anchor>a4c6f462010612236495a3c38115eae58</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>LineOrientation</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1LineOrientation.html</anchorfile>
      <anchor>aa48bcffefca607804da0e05d1dc0a6e0</anchor>
      <arglist>(MobilizedBody &amp;parent, const Body &amp;bodyInfo, Direction=Forward)</arglist>
    </member>
    <member kind="function">
      <type>LineOrientation &amp;</type>
      <name>addBodyDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1LineOrientation.html</anchorfile>
      <anchor>a69b10ab2e39894e47cdddb5a57040aef</anchor>
      <arglist>(const Transform &amp;X_BD, const DecorativeGeometry &amp;g)</arglist>
    </member>
    <member kind="function">
      <type>LineOrientation &amp;</type>
      <name>addOutboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1LineOrientation.html</anchorfile>
      <anchor>a54297153c38043b381682de7dfa0b945</anchor>
      <arglist>(const Transform &amp;X_MD, const DecorativeGeometry &amp;g)</arglist>
    </member>
    <member kind="function">
      <type>LineOrientation &amp;</type>
      <name>addInboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1LineOrientation.html</anchorfile>
      <anchor>a737eb225bbf83f46a4330540100dde6b</anchor>
      <arglist>(const Transform &amp;X_FD, const DecorativeGeometry &amp;g)</arglist>
    </member>
    <member kind="function">
      <type>LineOrientation &amp;</type>
      <name>setDefaultInboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1LineOrientation.html</anchorfile>
      <anchor>aeaba6ceb649d517761d082f15d84f9dd</anchor>
      <arglist>(const Transform &amp;X_PF)</arglist>
    </member>
    <member kind="function">
      <type>LineOrientation &amp;</type>
      <name>setDefaultOutboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1LineOrientation.html</anchorfile>
      <anchor>a21cf9e1fd27082041312e65b150fa67d</anchor>
      <arglist>(const Transform &amp;X_BM)</arglist>
    </member>
    <member kind="function">
      <type>LineOrientation &amp;</type>
      <name>setDefaultRotation</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1LineOrientation.html</anchorfile>
      <anchor>a36b436d78fd3a207f111cb1f16bcde59</anchor>
      <arglist>(const Rotation &amp;R_FM)</arglist>
    </member>
    <member kind="function">
      <type>Rotation</type>
      <name>getDefaultRotation</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1LineOrientation.html</anchorfile>
      <anchor>a5b62dc3b57a029630fba96468fbe0cec</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Quaternion &amp;</type>
      <name>getDefaultQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1LineOrientation.html</anchorfile>
      <anchor>a50ae41aa8fd948000a8fb047c8382a23</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>LineOrientation &amp;</type>
      <name>setDefaultQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1LineOrientation.html</anchorfile>
      <anchor>a45fe32aa3997ff6459a047f7ac06b44c</anchor>
      <arglist>(const Quaternion &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>const Vec4 &amp;</type>
      <name>getQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1LineOrientation.html</anchorfile>
      <anchor>a55b6796404320f1e67a8423dbc867ff0</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec4 &amp;</type>
      <name>getQDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1LineOrientation.html</anchorfile>
      <anchor>ae1b9cf8787393deaaced724da4d355fc</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec4 &amp;</type>
      <name>getQDotDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1LineOrientation.html</anchorfile>
      <anchor>a85d59c5487eee28699f66901a12ae406</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec2 &amp;</type>
      <name>getU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1LineOrientation.html</anchorfile>
      <anchor>aff78479f479c762e272c840a983e2925</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec2 &amp;</type>
      <name>getUDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1LineOrientation.html</anchorfile>
      <anchor>a0038bdf049eca569377bc5e2741fe13e</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1LineOrientation.html</anchorfile>
      <anchor>a30333af20bc516867088c3c0bdf16eff</anchor>
      <arglist>(State &amp;, const Vec4 &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1LineOrientation.html</anchorfile>
      <anchor>a3dec718993ff88085c424134a14f2efd</anchor>
      <arglist>(State &amp;, const Vec2 &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec4 &amp;</type>
      <name>getMyPartQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1LineOrientation.html</anchorfile>
      <anchor>a244ed01ea18afd88236a413b200d6c2e</anchor>
      <arglist>(const State &amp;, const Vector &amp;qlike) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec2 &amp;</type>
      <name>getMyPartU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1LineOrientation.html</anchorfile>
      <anchor>adba7d03ddb983a78e0fabf6312a3056a</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_1LineOrientation.html</anchorfile>
      <anchor>a250f452762eb33c22a1a375aba931c6d</anchor>
      <arglist>(const State &amp;, Vector &amp;qlike) const</arglist>
    </member>
    <member kind="function">
      <type>Vec2 &amp;</type>
      <name>updMyPartU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1LineOrientation.html</anchorfile>
      <anchor>adee09fbdcb431b121939c06a9952e325</anchor>
      <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>aeaab08a405c66d621d994b958d3ece26</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>a196f5123b3654d1403396df357d27295</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>
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    <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>
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    <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>
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    <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>
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    <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>
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    <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>
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    <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>
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    <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>a32d7b45370be275a1ed1b416f7eca991</anchor>
      <arglist>(const State &amp;, Vector &amp;qlike) const</arglist>
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    <member kind="function">
      <type>Real &amp;</type>
      <name>updMyPartU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Pin.html</anchorfile>
      <anchor>a3ff8903b233edacc2049e82aa8179cdd</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>a536b99733592a149b9af96407095bcf4</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>a7a1ce32ce03ab62ece50b30fd5074606</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>a2bf71c9a9cd2dd27e2fdfd64bd4f6b94</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>acb3597cedc2a12ab6b4dcc525869110f</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>a2cb370623e216a46d7ffe7edcf196387</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>aaa1b7e05452c2c8e26a8aa020e9bf027</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>af20f412361e24c710825db55d76506ad</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>a313f4366f5fd212f570183a5a8e31d8f</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>a8bf4b5bf61925fbc04b645a969e485de</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>a5aa6085022c4cb59fd2834ed54b996af</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>a21caca26107c18fbe27e77ba32565248</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>a121187dfb8162c5a993fdd996816b52a</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>affb65a389d89e296c08912246d68f822</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>a89ec3bcbdd6cddd61f839ae0988fe75c</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>afb345de64e584bc9b7a260aee82fdccf</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Planar &amp;</type>
      <name>setDefaultQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Planar.html</anchorfile>
      <anchor>af7daedf31a1374741d07976f5e5b75df</anchor>
      <arglist>(const Vec3 &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Planar.html</anchorfile>
      <anchor>a58b0646c92d5d52de7b0fadd386486f4</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>aa776b2645b97865d5d08b63f52b7ee6f</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getQDotDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Planar.html</anchorfile>
      <anchor>ae0eda98ef51f3fa38d54840a41a9f1c9</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>a1f92639c6533b61e542d51634bd48f18</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_1Planar.html</anchorfile>
      <anchor>ab48149022643d6184a13ff3dbe3415aa</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_1Planar.html</anchorfile>
      <anchor>a83455e0e996b0c829f256c6123ce2d16</anchor>
      <arglist>(State &amp;, const Vec3 &amp;) const</arglist>
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    <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>a283acadbe77c113edac5c0b35c8c6faf</anchor>
      <arglist>(const State &amp;, 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_1Planar.html</anchorfile>
      <anchor>a6927cfc0a8ff5a9d1abf0fdeab646bba</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>ae4cd3fd6db337b75b3a33dfdb54cedbb</anchor>
      <arglist>(const State &amp;, Vector &amp;qlike) const</arglist>
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    <member kind="function">
      <type>Vec3 &amp;</type>
      <name>updMyPartU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Planar.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::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>
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    <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>
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    <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>
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    <member kind="function">
      <type>Screw &amp;</type>
      <name>addBodyDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Screw.html</anchorfile>
      <anchor>aeb0cc6beb21a0bc8ef49463d0360b2bb</anchor>
      <arglist>(const Transform &amp;X_BD, const DecorativeGeometry &amp;g)</arglist>
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    <member kind="function">
      <type>Screw &amp;</type>
      <name>addOutboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Screw.html</anchorfile>
      <anchor>ab7d3021e54c948fbecf0a55eeba8eb2f</anchor>
      <arglist>(const Transform &amp;X_MD, const DecorativeGeometry &amp;g)</arglist>
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    <member kind="function">
      <type>Screw &amp;</type>
      <name>addInboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Screw.html</anchorfile>
      <anchor>a09d96bb7741114248419f40f3c6f0efe</anchor>
      <arglist>(const Transform &amp;X_FD, const DecorativeGeometry &amp;g)</arglist>
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    <member kind="function">
      <type>Screw &amp;</type>
      <name>setDefaultInboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Screw.html</anchorfile>
      <anchor>abc3ee57d2efabc5d34f9b7850f2b8887</anchor>
      <arglist>(const Transform &amp;X_PF)</arglist>
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    <member kind="function">
      <type>Screw &amp;</type>
      <name>setDefaultOutboardFrame</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Screw.html</anchorfile>
      <anchor>ac73b97d1ca1e52d3b7725ad4d8b6089e</anchor>
      <arglist>(const Transform &amp;X_BM)</arglist>
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    <member kind="function">
      <type>Screw &amp;</type>
      <name>setDefaultPitch</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Screw.html</anchorfile>
      <anchor>aab588b6d5f175a247ce2aab9d53898ba</anchor>
      <arglist>(Real pitch)</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getDefaultPitch</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Screw.html</anchorfile>
      <anchor>a9dd647703f7a8d6f9069c2e9abfa3846</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>Screw &amp;</type>
      <name>setDefaultQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Screw.html</anchorfile>
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      <arglist>(Real)</arglist>
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      <type>Real</type>
      <name>getDefaultQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Screw.html</anchorfile>
      <anchor>a4254cfebd471a986edbe43d4a6a9912c</anchor>
      <arglist>() const</arglist>
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      <type>Real</type>
      <name>getQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Screw.html</anchorfile>
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      <arglist>(const State &amp;) const</arglist>
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      <type>Real</type>
      <name>getQDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Screw.html</anchorfile>
      <anchor>a954c8c13e6446ee60ab722ce6695ae20</anchor>
      <arglist>(const State &amp;) const</arglist>
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      <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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      <name>getU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Screw.html</anchorfile>
      <anchor>a2f23150dac878fd98e792bfc453b5bc2</anchor>
      <arglist>(const State &amp;) const</arglist>
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      <type>Real</type>
      <name>getUDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Screw.html</anchorfile>
      <anchor>a0249403d6a5cb2575904ee64f24aa6fb</anchor>
      <arglist>(const State &amp;) const</arglist>
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      <type>void</type>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1Screw.html</anchorfile>
      <anchor>aae76c8aaf42922dcbb55618914ecb60d</anchor>
      <arglist>(State &amp;, Real) const</arglist>
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      <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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      <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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      <name>updMyPartQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Screw.html</anchorfile>
      <anchor>a54a2edd2d098c2cd6dd33205334b34c3</anchor>
      <arglist>(const State &amp;, Vector &amp;qlike) const</arglist>
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      <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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    <base>SimTK::MobilizedBody</base>
    <member kind="function">
      <type></type>
      <name>Slider</name>
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      <arglist>()</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1Slider.html</anchorfile>
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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>Slider</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Slider.html</anchorfile>
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      <arglist>(MobilizedBody &amp;parent, const Body &amp;bodyInfo, Direction=Forward)</arglist>
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    <member kind="function">
      <type>Slider &amp;</type>
      <name>setDefaultLength</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Slider.html</anchorfile>
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      <arglist>(Real length)</arglist>
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      <type>Real</type>
      <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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      <type>Real</type>
      <name>getLength</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Slider.html</anchorfile>
      <anchor>aec392fc23fee2df3818723fd6b9c73d2</anchor>
      <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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      <type>Real</type>
      <name>getRate</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Slider.html</anchorfile>
      <anchor>a5879e20f91fb69a3169c5be8ea8e25f1</anchor>
      <arglist>(const State &amp;s) const</arglist>
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      <type>Real</type>
      <name>getAppliedForce</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Slider.html</anchorfile>
      <anchor>a3cbf720809121b03b38ea049390db19f</anchor>
      <arglist>(const State &amp;s, const Vector &amp;mobilityForces) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>applyForce</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Slider.html</anchorfile>
      <anchor>a8d708c355aef9e2ad98fb28a5e6e1e65</anchor>
      <arglist>(const State &amp;s, Real force, Vector &amp;mobilityForces) const</arglist>
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    <member kind="function">
      <type>Slider &amp;</type>
      <name>setDefaultQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Slider.html</anchorfile>
      <anchor>a39637f2f23724ca6fdc30d85bf76ff30</anchor>
      <arglist>(Real)</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getDefaultQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Slider.html</anchorfile>
      <anchor>a635e888e04ad751fba0599ad57808950</anchor>
      <arglist>() const</arglist>
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      <type>Real</type>
      <name>getQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Slider.html</anchorfile>
      <anchor>a3971d31a307395b6692067a12622816c</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_1Slider.html</anchorfile>
      <anchor>afeacd4ccda669e5f4f2ad8199da62edd</anchor>
      <arglist>(const State &amp;) const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getQDotDot</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Slider.html</anchorfile>
      <anchor>af9d61cfd9901bf74ed616489cc7174a4</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_1Slider.html</anchorfile>
      <anchor>a2f952302db7c48126b3bdcb2812251e0</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_1Slider.html</anchorfile>
      <anchor>af20e144e60a11b08d4513f8d6cc1a6cc</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_1Slider.html</anchorfile>
      <anchor>add57a86dd028e1ea7a55a9fd7b5c9665</anchor>
      <arglist>(State &amp;, Real) const</arglist>
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      <type>void</type>
      <name>setU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Slider.html</anchorfile>
      <anchor>a3b817ec308bf060d22bd25db75a2ca0a</anchor>
      <arglist>(State &amp;, Real) const</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getMyPartQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Slider.html</anchorfile>
      <anchor>ada44e112c2e71f55b3b6050b50348436</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_1Slider.html</anchorfile>
      <anchor>a2f9c455c77b4803402cb5169c43db127</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_1Slider.html</anchorfile>
      <anchor>accf77f0e0b6ab53ed66827bcc09ce811</anchor>
      <arglist>(const State &amp;, Vector &amp;qlike) const</arglist>
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    <member kind="function">
      <type>Real &amp;</type>
      <name>updMyPartU</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1Slider.html</anchorfile>
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      <arglist>(const State &amp;, Vector &amp;ulike) const</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1Slider.html</anchorfile>
      <anchor>a86f1453e13bca625d5fbf0de2b4b78af</anchor>
      <arglist>(const Transform &amp;X_BD, const DecorativeGeometry &amp;g)</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1Slider.html</anchorfile>
      <anchor>a4761bc7d08c4d9c704a374ad74901aca</anchor>
      <arglist>(const Transform &amp;X_MD, const DecorativeGeometry &amp;g)</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1Slider.html</anchorfile>
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      <arglist>(const Transform &amp;X_FD, const DecorativeGeometry &amp;g)</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1Slider.html</anchorfile>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1Slider.html</anchorfile>
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      <arglist>(const Transform &amp;X_BM)</arglist>
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    <member kind="function">
      <type></type>
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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>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1SphericalCoords.html</anchorfile>
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      <arglist>(const Transform &amp;X_MD, const DecorativeGeometry &amp;g)</arglist>
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      <type>SphericalCoords &amp;</type>
      <name>addInboardDecoration</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1SphericalCoords.html</anchorfile>
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      <arglist>(const Transform &amp;X_FD, const DecorativeGeometry &amp;g)</arglist>
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      <type>SphericalCoords &amp;</type>
      <name>setDefaultInboardFrame</name>
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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>setDefaultAngles</name>
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      <arglist>(const Vec2 &amp;a)</arglist>
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      <name>setDefaultRadius</name>
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      <arglist>(Real r)</arglist>
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      <name>setRadialAxis</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1SphericalCoords.html</anchorfile>
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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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      <arglist>(bool)</arglist>
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      <anchorfile>classSimTK_1_1MobilizedBody_1_1SphericalCoords.html</anchorfile>
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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>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(State &amp;s, const Vec2 &amp;a)</arglist>
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      <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>
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      <arglist>(const State &amp;s) const</arglist>
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      <name>getRadius</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1SphericalCoords.html</anchorfile>
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      <arglist>(const State &amp;s) const</arglist>
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      <arglist>() const</arglist>
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      <type>SphericalCoords &amp;</type>
      <name>setDefaultQ</name>
      <anchorfile>classSimTK_1_1MobilizedBody_1_1SphericalCoords.html</anchorfile>
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      <arglist>(const Vec3 &amp;q)</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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      <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>(State &amp;, const Vec3 &amp;) const</arglist>
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      <arglist>(State &amp;, const Vec3 &amp;) 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>(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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      <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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      <anchorfile>classSimTK_1_1MobilizedBody_1_1Translation.html</anchorfile>
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      <arglist>(const State &amp;s) const</arglist>
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      <anchor>af7ed9c5f2072a2a357d10ee80e632f1a</anchor>
      <arglist>(State &amp;s, const Vec3 &amp;v_FM) const</arglist>
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      <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>(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;p_FM) const</arglist>
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      <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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      <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>(const State &amp;s) const</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>(const Vec3 &amp;q)</arglist>
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  <compound kind="class">
    <name>SimTK::Motion::Custom</name>
    <filename>classSimTK_1_1Motion_1_1Custom.html</filename>
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    <member kind="function">
      <type></type>
      <name>Custom</name>
      <anchorfile>classSimTK_1_1Motion_1_1Custom.html</anchorfile>
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      <arglist>(MobilizedBody &amp;mobod, Implementation *implementation)</arglist>
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      <anchorfile>classSimTK_1_1Motion_1_1Custom.html</anchorfile>
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      <arglist>()</arglist>
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      <arglist>() const</arglist>
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      <name>updImplementation</name>
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      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
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      <arglist>()</arglist>
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      <arglist>() const</arglist>
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      <type>virtual Motion::Level</type>
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      <arglist>(const State &amp;) const =0</arglist>
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      <arglist>(const State &amp;) const</arglist>
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      <arglist>(const State &amp;s, int nq, Real *q) const</arglist>
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      <arglist>(const State &amp;s, int nq, Real *qdot) const</arglist>
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      <arglist>(const State &amp;s, int nq, Real *qdotdot) const</arglist>
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      <arglist>(const State &amp;s, int nu, Real *u) const</arglist>
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      <arglist>(const State &amp;s, int nu, Real *udot) const</arglist>
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      <arglist>(const State &amp;s, int nu, Real *udot) 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) 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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      <arglist>(const State &amp;state) 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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      <type>virtual void</type>
      <name>realizeReport</name>
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      <arglist>(const State &amp;state) const</arglist>
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      <arglist>(const State &amp;s, int nq, Real *q) const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
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      <arglist>(const State &amp;s, int nq, Real *qdot) const</arglist>
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      <type>virtual void</type>
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      <arglist>(const State &amp;s, int nq, Real *qdotdot) const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
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      <arglist>(const State &amp;s, int nu, Real *u) const</arglist>
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      <type>virtual void</type>
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      <arglist>(const State &amp;s, int nu, Real *udot) const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>calcPrescribedAcceleration</name>
      <anchorfile>classSimTK_1_1Motion_1_1Custom_1_1Implementation.html</anchorfile>
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      <arglist>(const State &amp;s, int nu, Real *udot) const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>realizeTopology</name>
      <anchorfile>classSimTK_1_1Motion_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a82687bcd80fe3863a82343f78cec566f</anchor>
      <arglist>(State &amp;state) const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>realizeModel</name>
      <anchorfile>classSimTK_1_1Motion_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a249bad4b37a6eea2bd1fb01a41fccb91</anchor>
      <arglist>(State &amp;state) const</arglist>
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      <type>virtual void</type>
      <name>realizeInstance</name>
      <anchorfile>classSimTK_1_1Motion_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a2507f4453514ba80057b4779079d1f33</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>virtual void</type>
      <name>realizeTime</name>
      <anchorfile>classSimTK_1_1Motion_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a9c4833a0d1051caf49385df16d6e7f56</anchor>
      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>realizePosition</name>
      <anchorfile>classSimTK_1_1Motion_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>ad1306cf23034455939af4d1a208857b5</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>virtual void</type>
      <name>realizeVelocity</name>
      <anchorfile>classSimTK_1_1Motion_1_1Custom_1_1Implementation.html</anchorfile>
      <anchor>a27b3c894ec2ff2bb5b1a74310b1a2331</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <type>virtual void</type>
      <name>realizeDynamics</name>
      <anchorfile>classSimTK_1_1Motion_1_1Custom_1_1Implementation.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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      <type>virtual void</type>
      <name>realizeAcceleration</name>
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      <arglist>(const State &amp;state) const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>realizeReport</name>
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      <arglist>(const State &amp;state) const</arglist>
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    <base>SimTK::Motion</base>
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      <type></type>
      <name>Sinusoid</name>
      <anchorfile>classSimTK_1_1Motion_1_1Sinusoid.html</anchorfile>
      <anchor>aab63dffe5a1df52262f0802d29f99720</anchor>
      <arglist>(MobilizedBody &amp;mobod, Motion::Level level, Real amplitude, Real rate, Real phase)</arglist>
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    <member kind="function">
      <type></type>
      <name>Sinusoid</name>
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      <arglist>()</arglist>
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    <base>SimTK::Motion</base>
    <member kind="function">
      <type></type>
      <name>Steady</name>
      <anchorfile>classSimTK_1_1Motion_1_1Steady.html</anchorfile>
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      <arglist>(MobilizedBody &amp;mobod, Real u)</arglist>
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    <member kind="function">
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      <name>Steady</name>
      <anchorfile>classSimTK_1_1Motion_1_1Steady.html</anchorfile>
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      <arglist>(MobilizedBody &amp;mobod, const Vec&lt; N &gt; &amp;u)</arglist>
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    <member kind="function">
      <type></type>
      <name>Steady</name>
      <anchorfile>classSimTK_1_1Motion_1_1Steady.html</anchorfile>
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      <arglist>()</arglist>
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      <type>Steady &amp;</type>
      <name>setDefaultRate</name>
      <anchorfile>classSimTK_1_1Motion_1_1Steady.html</anchorfile>
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      <arglist>(Real u)</arglist>
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      <type>Steady &amp;</type>
      <name>setOneDefaultRate</name>
      <anchorfile>classSimTK_1_1Motion_1_1Steady.html</anchorfile>
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      <arglist>(MobilizerUIndex, Real u)</arglist>
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    <member kind="function">
      <type>Steady &amp;</type>
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      <arglist>(const Vec&lt; N &gt; &amp;u)</arglist>
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      <name>getOneDefaultRate</name>
      <anchorfile>classSimTK_1_1Motion_1_1Steady.html</anchorfile>
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      <arglist>(MobilizerUIndex ux) const</arglist>
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      <arglist>(State &amp;state, Real u) const</arglist>
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      <arglist>(State &amp;state, MobilizerUIndex ux, Real u) const</arglist>
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      <type>Real</type>
      <name>getOneRate</name>
      <anchorfile>classSimTK_1_1Motion_1_1Steady.html</anchorfile>
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      <arglist>(const State &amp;state, MobilizerUIndex ux) const</arglist>
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    <class kind="class">SimTK::MultibodyGraphMaker::LoopConstraint</class>
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    <member kind="function">
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      <arglist>()</arglist>
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      <arglist>(const std::string &amp;name, int numMobilities, bool haveGoodLoopJointAvailable=false, void *userRef=0)</arglist>
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      <arglist>(const std::string &amp;name, double mass, bool mustBeBaseBody, void *userRef=0)</arglist>
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      <arglist>(const std::string &amp;name, const std::string &amp;type, const std::string &amp;parentBodyName, const std::string &amp;childBodyName, bool mustBeLoopJoint, void *userRef=0)</arglist>
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      <arglist>(const std::string &amp;name)</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <type>void</type>
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      <arglist>(std::ostream &amp;out) const</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getNumMobilizers</name>
      <anchorfile>classSimTK_1_1MultibodyGraphMaker.html</anchorfile>
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      <arglist>() const</arglist>
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      <name>getMobilizer</name>
      <anchorfile>classSimTK_1_1MultibodyGraphMaker.html</anchorfile>
      <anchor>a4d4ccf3c0d9e72b0258baa3ff7338a2a</anchor>
      <arglist>(int mobilizerNum) const</arglist>
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    <member kind="function">
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      <name>getNumLoopConstraints</name>
      <anchorfile>classSimTK_1_1MultibodyGraphMaker.html</anchorfile>
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      <arglist>() const</arglist>
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      <arglist>(int loopConstraintNum) const</arglist>
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      <arglist>(const State &amp;state) const override</arglist>
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      <arglist>(const std::vector&lt; String &gt; &amp;observationOrder)</arglist>
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      <arglist>(const Array_&lt; std::string &gt; &amp;observationOrder)</arglist>
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      <arglist>(const std::vector&lt; std::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>(const State &amp;) const override</arglist>
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      <arglist>(const State &amp;) const override</arglist>
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      <arglist>(const State &amp;) const override</arglist>
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      <anchorfile>classSimTK_1_1ParticleConSurfaceSystemGuts.html</anchorfile>
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      <arglist>(const State &amp;state, const Vector &amp;u, Vector &amp;dq) const override</arglist>
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      <anchorfile>classSimTK_1_1ParticleConSurfaceSystemGuts.html</anchorfile>
      <anchor>a5a0a9e1e0f5da43b72121e886846fe2e</anchor>
      <arglist>(const State &amp;state, const Vector &amp;fq, Vector &amp;fu) const override</arglist>
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      <anchorfile>classSimTK_1_1ParticleConSurfaceSystemGuts.html</anchorfile>
      <anchor>a7a53045837d8b89900e7d5b6f4d14909</anchor>
      <arglist>(const State &amp;state, const Vector &amp;dq, Vector &amp;u) const override</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classSimTK_1_1ParticleConSurfaceSystemGuts.html</anchorfile>
      <anchor>a4295f53446ff0021b5386fb87fbe6ec2</anchor>
      <arglist>(const State &amp;state, const Vector &amp;fu, Vector &amp;fq) const override</arglist>
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      <type>bool</type>
      <name>prescribeQImpl</name>
      <anchorfile>classSimTK_1_1ParticleConSurfaceSystemGuts.html</anchorfile>
      <anchor>ac2512a0ed006d7299be9c17a6e0539a0</anchor>
      <arglist>(State &amp;) const override</arglist>
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      <anchorfile>classSimTK_1_1ParticleConSurfaceSystemGuts.html</anchorfile>
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      <arglist>(State &amp;) const override</arglist>
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      <anchorfile>classSimTK_1_1ParticleConSurfaceSystemGuts.html</anchorfile>
      <anchor>ada7ad91811e20cdd08c1b84ce6f870ee</anchor>
      <arglist>(State &amp;, Vector &amp;qErrEst, const ProjectOptions &amp;options, ProjectResults &amp;results) const override</arglist>
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      <type>void</type>
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      <anchorfile>classSimTK_1_1ParticleConSurfaceSystemGuts.html</anchorfile>
      <anchor>a01ae350e87f63801c2858ddbc92521cc</anchor>
      <arglist>(State &amp;, Vector &amp;uErrEst, const ProjectOptions &amp;options, ProjectResults &amp;results) const override</arglist>
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      <arglist></arglist>
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      <type></type>
      <name>PathDecorator</name>
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      <arglist>(const Vector &amp;x, const Vec3 &amp;O, const Vec3 &amp;I, const Vec3 &amp;color)</arglist>
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  <compound kind="class">
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      <type>static void</type>
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      <anchor>aa589f84feef8859e37fd6c397540e49f</anchor>
      <arglist>(const std::string &amp;swd, const std::string &amp;pathname, std::string &amp;directory, std::string &amp;fileName, std::string &amp;extension)</arglist>
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    <member kind="function" static="yes">
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      <arglist>(const std::string &amp;pathname, std::string &amp;directory, std::string &amp;fileName, std::string &amp;extension)</arglist>
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      <arglist>(const std::string &amp;pathname)</arglist>
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      <arglist>(const std::string &amp;dirPathname)</arglist>
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      <arglist>(const std::string &amp;swd, const std::string &amp;pathname)</arglist>
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      <arglist>(const std::string &amp;pathname)</arglist>
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      <arglist>()</arglist>
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      <arglist>(const std::string &amp;envInstallDir, const std::string &amp;offsetFromDefaultInstallDir)</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>(void *func, std::string &amp;absolutePathname)</arglist>
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      <arglist>(const std::string &amp;drive=&quot;&quot;)</arglist>
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      <arglist>(const std::string &amp;drive=&quot;&quot;)</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>(char c)</arglist>
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    <member kind="function">
      <type></type>
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      <arglist>()</arglist>
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      <arglist>(const State &amp;state, bool includeCurrentTime) const override</arglist>
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      <arglist>(Real eventInterval)</arglist>
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      <arglist>() const</arglist>
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      <arglist>(Real eventInterval)</arglist>
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  <compound kind="class">
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      <type></type>
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      <arglist>()</arglist>
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    <member kind="function">
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      <anchor>a5e29d2e7ceedb94f3d785b51df7aac25</anchor>
      <arglist>(const State &amp;state, bool includeCurrentTime) const override</arglist>
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      <type></type>
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      <arglist>(Real eventInterval)</arglist>
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    <member kind="function">
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      <arglist>() const</arglist>
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      <arglist>(Real eventInterval)</arglist>
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  <compound kind="class">
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    <base>SimTK::ImpulseSolver</base>
    <member kind="function">
      <type></type>
      <name>PGSImpulseSolver</name>
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      <anchor>a9ac8aa1084b9d5dc8579bd3896f07415</anchor>
      <arglist>(Real roll2slipTransitionSpeed)</arglist>
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    <member kind="function">
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      <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>
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      <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>
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  <compound kind="class">
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    <member kind="typedef">
      <type>PhiMatrixTranspose</type>
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      <arglist></arglist>
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      <arglist>()</arglist>
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      <arglist>(const Vec3 &amp;l)</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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    <member kind="function">
      <type></type>
      <name>PhiMatrixTranspose</name>
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      <arglist>(const PhiMatrix &amp;phi)</arglist>
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      <anchorfile>classSimTK_1_1PhiMatrixTranspose.html</anchorfile>
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      <arglist>() const</arglist>
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    <templarg>class HANDLE</templarg>
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    <member kind="typedef">
      <type>PIMPLHandle&lt; HANDLE, IMPL, PTR &gt;</type>
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      <arglist></arglist>
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      <arglist>(HANDLE &amp;p)</arglist>
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      <arglist>(Real roll2slipTransitionSpeed)</arglist>
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      <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>
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      <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>
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      <arglist>(PLUSImpulseSolver, ActiveIndex)</arglist>
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      <arglist>(ContactSurfaceIndex surf1, ContactSurfaceIndex surf2, Vec3 &amp;location, Vec3 &amp;normal, Real radius1, Real radius2, Real depth)</arglist>
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    <member kind="function">
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      <arglist>(ContactSurfaceIndex surf1, ContactSurfaceIndex surf2, Vec3 &amp;location, Vec3 &amp;normal, Real radius, Real depth)</arglist>
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    <member kind="function">
      <type>Vec3</type>
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      <arglist>() const</arglist>
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      <type>Vec3</type>
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      <anchorfile>classSimTK_1_1PointContact.html</anchorfile>
      <anchor>a8ebbbed9f006c394c11465e70a70282e</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getRadiusOfCurvature1</name>
      <anchorfile>classSimTK_1_1PointContact.html</anchorfile>
      <anchor>ad5c66c9223a37a27839e790123694f08</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getRadiusOfCurvature2</name>
      <anchorfile>classSimTK_1_1PointContact.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
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      <name>getEffectiveRadiusOfCurvature</name>
      <anchorfile>classSimTK_1_1PointContact.html</anchorfile>
      <anchor>a494621e4aac9d936ddcbdfb9069d396c</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getDepth</name>
      <anchorfile>classSimTK_1_1PointContact.html</anchorfile>
      <anchor>a7ce6bf3ea63be90f0677b15341e1d245</anchor>
      <arglist>() const</arglist>
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      <name>isInstance</name>
      <anchorfile>classSimTK_1_1PointContact.html</anchorfile>
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      <arglist>(const Contact &amp;contact)</arglist>
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      <name>classTypeId</name>
      <anchorfile>classSimTK_1_1PointContact.html</anchorfile>
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      <arglist>()</arglist>
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    <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>
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    <member kind="function">
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      <name>disable</name>
      <anchorfile>classSimTK_1_1PointPlaneContact.html</anchorfile>
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      <arglist>(State &amp;state) const override</arglist>
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      <type>bool</type>
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      <anchorfile>classSimTK_1_1PointPlaneContact.html</anchorfile>
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      <arglist>(State &amp;state) const override</arglist>
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      <type>bool</type>
      <name>isEnabled</name>
      <anchorfile>classSimTK_1_1PointPlaneContact.html</anchorfile>
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      <arglist>(const State &amp;state) const override</arglist>
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      <type>Vec3</type>
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      <anchorfile>classSimTK_1_1PointPlaneContact.html</anchorfile>
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      <arglist>(const State &amp;state) const override</arglist>
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      <name>getPerr</name>
      <anchorfile>classSimTK_1_1PointPlaneContact.html</anchorfile>
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      <arglist>(const State &amp;state) const override</arglist>
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      <name>getVerr</name>
      <anchorfile>classSimTK_1_1PointPlaneContact.html</anchorfile>
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      <arglist>(const State &amp;state) const override</arglist>
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      <anchorfile>classSimTK_1_1PointPlaneContact.html</anchorfile>
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      <arglist>(const State &amp;state) const override</arglist>
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      <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>
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    <member kind="function">
      <type>bool</type>
      <name>hasFriction</name>
      <anchorfile>classSimTK_1_1PointPlaneContact.html</anchorfile>
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      <arglist>(const State &amp;state) const override</arglist>
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    <member kind="function">
      <type>Vec2</type>
      <name>getSlipVelocity</name>
      <anchorfile>classSimTK_1_1PointPlaneContact.html</anchorfile>
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      <arglist>(const State &amp;state) const override</arglist>
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      <type>Real</type>
      <name>calcEffectiveCOF</name>
      <anchorfile>classSimTK_1_1PointPlaneContact.html</anchorfile>
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      <arglist>(const State &amp;state, Real defaultTransitionSpeed, Real slipSpeed) const override</arglist>
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    <member kind="function">
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      <name>getContactMultiplierIndex</name>
      <anchorfile>classSimTK_1_1PointPlaneContact.html</anchorfile>
      <anchor>a384e995ab231467767e1a36a18a997fe</anchor>
      <arglist>(const State &amp;s) const override</arglist>
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      <type>void</type>
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      <anchorfile>classSimTK_1_1PointPlaneContact.html</anchorfile>
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      <arglist>(const State &amp;s, MultiplierIndex &amp;ix_x, MultiplierIndex &amp;ix_y) const override</arglist>
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    <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>
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      <anchorfile>classSimTK_1_1PointPlaneFrictionlessContact.html</anchorfile>
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      <arglist>(State &amp;state) const override</arglist>
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      <anchorfile>classSimTK_1_1PointPlaneFrictionlessContact.html</anchorfile>
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      <arglist>(State &amp;state) const override</arglist>
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      <anchorfile>classSimTK_1_1PointPlaneFrictionlessContact.html</anchorfile>
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      <arglist>(const State &amp;state) const override</arglist>
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      <type>Vec3</type>
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      <anchorfile>classSimTK_1_1PointPlaneFrictionlessContact.html</anchorfile>
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      <arglist>(const State &amp;state) const override</arglist>
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      <type>Real</type>
      <name>getPerr</name>
      <anchorfile>classSimTK_1_1PointPlaneFrictionlessContact.html</anchorfile>
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      <arglist>(const State &amp;state) const override</arglist>
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      <anchorfile>classSimTK_1_1PointPlaneFrictionlessContact.html</anchorfile>
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      <arglist>(const State &amp;state) const override</arglist>
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      <anchorfile>classSimTK_1_1PointPlaneFrictionlessContact.html</anchorfile>
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      <arglist>(const State &amp;state) const override</arglist>
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      <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>
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    <member kind="function">
      <type>MultiplierIndex</type>
      <name>getContactMultiplierIndex</name>
      <anchorfile>classSimTK_1_1PointPlaneFrictionlessContact.html</anchorfile>
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      <arglist>(const State &amp;s) const override</arglist>
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      <type></type>
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      <arglist>()</arglist>
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      <type>void</type>
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      <arglist>()</arglist>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>int</type>
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      <arglist>() const</arglist>
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      <anchorfile>classSimTK_1_1PolygonalMesh.html</anchorfile>
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      <arglist>(int vertex) const</arglist>
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      <arglist>(int face) const</arglist>
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      <arglist>(const Vec3 &amp;position)</arglist>
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      <arglist>(const Array_&lt; int &gt; &amp;vertices)</arglist>
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      <anchor>a0dadbea1c3bcff3c9c1ec807c729fa9f</anchor>
      <arglist>(Real scale)</arglist>
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      <name>transformMesh</name>
      <anchorfile>classSimTK_1_1PolygonalMesh.html</anchorfile>
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      <arglist>(const Transform &amp;X_AM)</arglist>
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      <arglist>(const String &amp;pathname)</arglist>
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      <arglist>(const String &amp;pathname)</arglist>
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      <arglist>(std::istream &amp;file)</arglist>
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      <arglist>(const String &amp;pathname)</arglist>
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      <arglist>(const String &amp;pathname)</arglist>
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      <arglist>(Real radius, int resolution=1)</arglist>
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      <arglist>(const Vec3 &amp;halfDims, int resolution=1)</arglist>
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      <arglist>(const UnitVec3 &amp;axis, Real radius, Real halfLength, int resolution=1)</arglist>
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  <compound kind="class">
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    <class kind="class">SimTK::PolynomialRootFinder::ZeroLeadingCoefficient</class>
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      <arglist>(const Vec&lt; 3, complex&lt; T &gt; &gt; &amp;coefficients, Vec&lt; 2, complex&lt; T &gt; &gt; &amp;roots)</arglist>
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      <arglist>(const Vec&lt; 4, T &gt; &amp;coefficients, Vec&lt; 3, complex&lt; T &gt; &gt; &amp;roots)</arglist>
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      <arglist>(const Vec&lt; 4, complex&lt; T &gt; &gt; &amp;coefficients, Vec&lt; 3, complex&lt; T &gt; &gt; &amp;roots)</arglist>
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      <arglist>(const Vector_&lt; T &gt; &amp;coefficients, Vector_&lt; complex&lt; T &gt; &gt; &amp;roots)</arglist>
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      <arglist>(const Vector_&lt; complex&lt; T &gt; &gt; &amp;coefficients, Vector_&lt; complex&lt; T &gt; &gt; &amp;roots)</arglist>
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      <arglist></arglist>
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    <member kind="enumvalue">
      <name>NoPositionProjection</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>a0295f2bb2f27bc87b3f6da5075e96a97abd12ed0d08b02fb777c2dccd47d1470a</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>PLUS</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>a6ea942921eb0dd7d2989d6fb173e3347a3ff063c4cd5f64db6119f4451d684a2e</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>PGS</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>a6ea942921eb0dd7d2989d6fb173e3347a0b821eaae515689cf5e4e116e3f6f782</anchor>
      <arglist></arglist>
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    <member kind="function">
      <type></type>
      <name>SemiExplicitEulerTimeStepper</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>a2dd96a7cbb29427bf2b79ac65f4d7e1f</anchor>
      <arglist>(const MultibodySystem &amp;mbs)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~SemiExplicitEulerTimeStepper</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>a4bbe93c1f8bdd05dedcb9124c227c589</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>initialize</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
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      <arglist>(const State &amp;initState)</arglist>
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    <member kind="function">
      <type>const State &amp;</type>
      <name>getState</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>a232618b958ad249a6b300b0e0f3f384c</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>State &amp;</type>
      <name>updState</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>a287fbc9742b2c908f91cad0a119f0f1b</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getTime</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>a541009024a3daa342fbfd7c269b492b2</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>const State &amp;</type>
      <name>getAdvancedState</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>ab8a13b5f1a3a9e690dd2d617645cc7c7</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>State &amp;</type>
      <name>updAdvancedState</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>a1b465462778d86372f8573b8eb32bdfd</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getAdvancedTime</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>a1ff60eb999d3c140cab73cd88d3104e2</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>Integrator::SuccessfulStepStatus</type>
      <name>stepTo</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>a3cebdd67e86b66d74077a9e09cceaaff</anchor>
      <arglist>(Real time)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setAccuracy</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>a0ebcf7c4c564e8a62d9c1f885b73becc</anchor>
      <arglist>(Real accuracy)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setConstraintTolerance</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>a6b48468cf76c389f26b7e6dfab74f94e</anchor>
      <arglist>(Real consTol)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setRestitutionModel</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>a5473ed8cc3a9dd8a5e1239e769d77a55</anchor>
      <arglist>(RestitutionModel restModel)</arglist>
    </member>
    <member kind="function">
      <type>RestitutionModel</type>
      <name>getRestitutionModel</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>ac7b9e2b994639fad4dca2a5f3ac8220b</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setInducedImpactModel</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>a2dda17488df09ab2fe9b581cf0bb3752</anchor>
      <arglist>(InducedImpactModel indModel)</arglist>
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    <member kind="function">
      <type>InducedImpactModel</type>
      <name>getInducedImpactModel</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>ac150b397f74a766e28255203e8c31d22</anchor>
      <arglist>() const</arglist>
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      <type>void</type>
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      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>a67d1d1a88ac5f5d1e369baf5ce84dcd8</anchor>
      <arglist>(int maxInduced)</arglist>
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      <type>int</type>
      <name>getMaxInducedImpactsPerStep</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>a707c81c3d3c36787103ad86f17b3208a</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setPositionProjectionMethod</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>ae5363b142bbe72743d8d2816569fcc90</anchor>
      <arglist>(PositionProjectionMethod projMethod)</arglist>
    </member>
    <member kind="function">
      <type>PositionProjectionMethod</type>
      <name>getPositionProjectionMethod</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>aac9c96814986954313b0a29d39b87909</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setImpulseSolverType</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>a6fb60a8cbf723a5aefe5bb54dfd066b0</anchor>
      <arglist>(ImpulseSolverType solverType)</arglist>
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    <member kind="function">
      <type>ImpulseSolverType</type>
      <name>getImpulseSolverType</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>ae82e3d68636ed410707401b4904aec10</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setDefaultImpactCaptureVelocity</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>a225019989141f247ab22db1fc45e5013</anchor>
      <arglist>(Real vCapture)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setDefaultImpactMinCORVelocity</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>a8a9e728be97ed1e872bcb4debb2527b5</anchor>
      <arglist>(Real vMinCOR)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setDefaultFrictionTransitionVelocity</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>a58740098005e3b99d616af7875d922ea</anchor>
      <arglist>(Real vTransition)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setMinSignificantForce</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>a6f5d43cc888826b2c31eb32daaf357ce</anchor>
      <arglist>(Real minSignificantForce)</arglist>
    </member>
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      <type>Real</type>
      <name>getMinSignificantForce</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>a60feb7bed3ece9a41e9e8cb20cd00340</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getAccuracyInUse</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>afd2dda44cc013cb1d7ad501599dd0a83</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getConstraintToleranceInUse</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>a5ca1f95734a32bd546f301df4f6e01e3</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getDefaultImpactCaptureVelocity</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>a4a6f8b8811b9dfcbc572a3693f961155</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getDefaultImpactMinCORVelocity</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getDefaultFrictionTransitionVelocity</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getDefaultImpactCaptureVelocityInUse</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>Real</type>
      <name>getDefaultImpactMinCORVelocityInUse</name>
      <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>
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      <arglist>() const</arglist>
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    <member kind="function">
      <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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      <type>void</type>
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      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>a320354e26068310bc6d03bad017c1b71</anchor>
      <arglist>(ImpulseSolver *impulseSolver)</arglist>
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      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>a9f2312a9468fa9a562885bb3e06579c0</anchor>
      <arglist>()</arglist>
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    <member kind="function" static="yes">
      <type>static const char *</type>
      <name>getRestitutionModelName</name>
      <anchorfile>classSimTK_1_1SemiExplicitEulerTimeStepper.html</anchorfile>
      <anchor>a99f221c2dd00cdb09f9ef2566a817472</anchor>
      <arglist>(RestitutionModel rm)</arglist>
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    <member kind="function" static="yes">
      <type>static const char *</type>
      <name>getInducedImpactModelName</name>
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      <anchor>abb4b06737f71a9276f2a28c858a389d5</anchor>
      <arglist>(InducedImpactModel iim)</arglist>
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      <type>static const char *</type>
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      <arglist>(PositionProjectionMethod ppm)</arglist>
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    <member kind="function" static="yes">
      <type>static const char *</type>
      <name>getImpulseSolverTypeName</name>
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      <anchor>a87cd90cf1135799fee608e2cb6b8b5f4</anchor>
      <arglist>(ImpulseSolverType ist)</arglist>
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  </compound>
  <compound kind="class">
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    <base>SimTK::Subsystem</base>
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      <type></type>
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      <arglist>(MultibodySystem &amp;)</arglist>
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      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function">
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      <arglist>(MobilizedBodyIndex) const</arglist>
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    <member kind="function">
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      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a10321a0c5ce417532fb740dc51ea7efb</anchor>
      <arglist>(MobilizedBodyIndex)</arglist>
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    <member kind="function">
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      <arglist>() const</arglist>
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    <member kind="function">
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      <arglist>()</arglist>
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    <member kind="function">
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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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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>(MobilizedBodyIndex parent, MobilizedBody &amp;child)</arglist>
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      <arglist>(Constraint &amp;)</arglist>
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      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>(UnilateralContact *)</arglist>
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      <arglist>() const</arglist>
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      <arglist>(UnilateralContactIndex) const</arglist>
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      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a6871e6b550226739b06714c7c3b0600a</anchor>
      <arglist>(UnilateralContactIndex)</arglist>
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      <name>adoptStateLimitedFriction</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ade345270c030aaf4e4521b49c6dd4231</anchor>
      <arglist>(StateLimitedFriction *)</arglist>
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      <arglist>() const</arglist>
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      <arglist>(StateLimitedFrictionIndex) const</arglist>
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    <member kind="function">
      <type>StateLimitedFriction &amp;</type>
      <name>updStateLimitedFriction</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a3a05c7c8567c5a7a0296971bbdd9c841</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>ad064e8f6ed943508cc7e3ecc2cdae029</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>a28e6e67fa87eba9a452ce761f69ecf58</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>a9bd9663682f9e66fd045940a24a3b363</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>a926cd03fa8c77f7667a9540e5ad0876b</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>a4ee366614d3cf9a1d1dc7339c3b43245</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>ab5e21199c9b30e1686252d3dbc3a7d5f</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>ac0bc1cb1ed810844d1850eb8600ee269</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>ac8a41b77af06f49ea9447491eb7580ec</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>a8b76b15235ddcabe8021e93e6d971a5a</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>adb0a14924e72250f645c349f867c7e14</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex mbx) const</arglist>
    </member>
    <member kind="function">
      <type>const SpatialVec &amp;</type>
      <name>getMobilizerCoriolisAcceleration</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>aaceb6a81a5fe6b18f64957888e65c810</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex mbx) const</arglist>
    </member>
    <member kind="function">
      <type>const SpatialVec &amp;</type>
      <name>getTotalCoriolisAcceleration</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>aec5889c02e1efd2460286be359c1ea1d</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>ad45fdb886c3472bd1cdb58df2bcb43b3</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex mbx) const</arglist>
    </member>
    <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>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isPositionKinematicsRealized</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>af6524e4441791639ccea7922c7ef05ae</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <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>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isVelocityKinematicsRealized</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a60a6dc6be701b48912ef810dfb2d4178</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <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>
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      <arglist>(const State &amp;) const</arglist>
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      <type>void</type>
      <name>invalidateArticulatedBodyVelocity</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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      <type>bool</type>
      <name>isArticulatedBodyVelocityRealized</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>(const State &amp;) const</arglist>
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      <type>int</type>
      <name>getNumParticles</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>const Vector_&lt; Vec3 &gt; &amp;</type>
      <name>getAllParticleLocations</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>(const State &amp;) const</arglist>
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      <type>const Vector_&lt; Vec3 &gt; &amp;</type>
      <name>getAllParticleVelocities</name>
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      <arglist>(const State &amp;) const</arglist>
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      <type>const Vec3 &amp;</type>
      <name>getParticleLocation</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>(const State &amp;s, ParticleIndex p) const</arglist>
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      <type>const Vec3 &amp;</type>
      <name>getParticleVelocity</name>
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      <arglist>(const State &amp;s, ParticleIndex p) const</arglist>
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      <type>Vector &amp;</type>
      <name>updAllParticleMasses</name>
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      <arglist>(State &amp;s) const</arglist>
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      <type>void</type>
      <name>setAllParticleMasses</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>(State &amp;s, const Vector &amp;masses) const</arglist>
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      <type>Vector_&lt; Vec3 &gt; &amp;</type>
      <name>updAllParticleLocations</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>(State &amp;) const</arglist>
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      <type>Vector_&lt; Vec3 &gt; &amp;</type>
      <name>updAllParticleVelocities</name>
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      <arglist>(State &amp;) const</arglist>
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      <type>Vec3 &amp;</type>
      <name>updParticleLocation</name>
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      <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>
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      <arglist>(State &amp;s, ParticleIndex p) const</arglist>
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      <type>void</type>
      <name>setParticleLocation</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <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>
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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>
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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>
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      <type>const Vector &amp;</type>
      <name>getAllParticleMasses</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>aea2b4462aff4584ece865a474adf5136</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>a9eccb3ea2a2942e4a4286c7666dc921c</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>a84ea1bd80084c4e7fbe89804d0f8a104</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>a30318bad43e129d571dd55d612d864fd</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex mbx) const</arglist>
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      <type>std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>(std::ostream &amp;, const SimbodyMatterSubsystem &amp;)</arglist>
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      <type></type>
      <name>SimbodyMatterSubsystem</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a1b1f2127fdc50c1c92b5a20db22cd43f</anchor>
      <arglist>(MultibodySystem &amp;)</arglist>
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      <type></type>
      <name>SimbodyMatterSubsystem</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>()</arglist>
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      <type></type>
      <name>~SimbodyMatterSubsystem</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>()</arglist>
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      <type>const MobilizedBody &amp;</type>
      <name>getMobilizedBody</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a14d115984e760335ed1be361bc783737</anchor>
      <arglist>(MobilizedBodyIndex) const</arglist>
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      <type>MobilizedBody &amp;</type>
      <name>updMobilizedBody</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a10321a0c5ce417532fb740dc51ea7efb</anchor>
      <arglist>(MobilizedBodyIndex)</arglist>
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      <type>const MobilizedBody::Ground &amp;</type>
      <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>
      <anchor>a7f6389362654dc04bfba915986786d7d</anchor>
      <arglist>()</arglist>
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      <type>MobilizedBody::Ground &amp;</type>
      <name>Ground</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a39a3dc0853effb33f69f3c9e7a04946c</anchor>
      <arglist>()</arglist>
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      <type>const Constraint &amp;</type>
      <name>getConstraint</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>(ConstraintIndex) const</arglist>
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      <type>Constraint &amp;</type>
      <name>updConstraint</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a798239dcf7253063594ed4080a53e08c</anchor>
      <arglist>(ConstraintIndex)</arglist>
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      <type>void</type>
      <name>setShowDefaultGeometry</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a19657abf3c40de3bc74bede59f8b1f7d</anchor>
      <arglist>(bool show)</arglist>
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      <type>bool</type>
      <name>getShowDefaultGeometry</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a86f8327dfdc9c8cd1b382cf27e7cd37a</anchor>
      <arglist>() const</arglist>
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      <type>int</type>
      <name>getNumBodies</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a45f40d04cfab14431af5abbaf60e1cce</anchor>
      <arglist>() const</arglist>
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      <type>int</type>
      <name>getNumConstraints</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>acfcd1876e2525cc9fb102cd299cce203</anchor>
      <arglist>() const</arglist>
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      <type>int</type>
      <name>getNumMobilities</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>abcd2acffb10679e18813eeddb734fc2d</anchor>
      <arglist>() const</arglist>
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      <type>int</type>
      <name>getTotalQAlloc</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>aaa2f35fc427997efab70e1825caaf472</anchor>
      <arglist>() const</arglist>
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      <type>MobilizedBodyIndex</type>
      <name>adoptMobilizedBody</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a59d3e416b8263877d3e599774554f78d</anchor>
      <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>
      <anchor>a1f6b02ae234cc0784aa40f4a6d94cf27</anchor>
      <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>
      <name>updUnilateralContact</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a6871e6b550226739b06714c7c3b0600a</anchor>
      <arglist>(UnilateralContactIndex)</arglist>
    </member>
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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>
      <name>getNumStateLimitedFrictions</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>const StateLimitedFriction &amp;</type>
      <name>getStateLimitedFriction</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>(StateLimitedFrictionIndex) const</arglist>
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      <type>StateLimitedFriction &amp;</type>
      <name>updStateLimitedFriction</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a3a05c7c8567c5a7a0296971bbdd9c841</anchor>
      <arglist>(StateLimitedFrictionIndex)</arglist>
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      <type></type>
      <name>SimbodyMatterSubsystem</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>(const SimbodyMatterSubsystem &amp;ss)</arglist>
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      <type>SimbodyMatterSubsystem &amp;</type>
      <name>operator=</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>(const SimbodyMatterSubsystem &amp;ss)</arglist>
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      <type>void</type>
      <name>setUseEulerAngles</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>(State &amp;state, bool useEulerAngles) const</arglist>
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      <type>bool</type>
      <name>getUseEulerAngles</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>(const State &amp;state) const</arglist>
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      <type>int</type>
      <name>getNumQuaternionsInUse</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a88a8b52991614ad6b600cafa82cf917b</anchor>
      <arglist>(const State &amp;state) const</arglist>
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      <name>isUsingQuaternion</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>(const State &amp;state, MobilizedBodyIndex mobodIx) const</arglist>
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      <type>QuaternionPoolIndex</type>
      <name>getQuaternionPoolIndex</name>
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      <arglist>(const State &amp;state, MobilizedBodyIndex mobodIx) const</arglist>
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      <type>void</type>
      <name>setConstraintIsDisabled</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
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      <arglist>(State &amp;state, ConstraintIndex constraintIx, bool shouldDisableConstraint) const</arglist>
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      <type>bool</type>
      <name>isConstraintDisabled</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>afe4fa4b6ac99dfd2505f6d95189864d4</anchor>
      <arglist>(const State &amp;, ConstraintIndex constraint) const</arglist>
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      <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>
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      <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>
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      <type>void</type>
      <name>normalizeQuaternions</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a9867fb6504a2d9e33062db098299d25f</anchor>
      <arglist>(State &amp;state) const</arglist>
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      <type>Real</type>
      <name>calcSystemMass</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>aa1a9bc99d6feb480c714f57073be8b2e</anchor>
      <arglist>(const State &amp;s) const</arglist>
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      <type>Vec3</type>
      <name>calcSystemMassCenterLocationInGround</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a459dbe161f3f40a31688851d0aab687c</anchor>
      <arglist>(const State &amp;s) const</arglist>
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      <type>MassProperties</type>
      <name>calcSystemMassPropertiesInGround</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>af29174087d29ce0fb47d974dee778973</anchor>
      <arglist>(const State &amp;s) const</arglist>
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      <type>Inertia</type>
      <name>calcSystemCentralInertiaInGround</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a5ec0416ba22b4b23012b605cf8f707ef</anchor>
      <arglist>(const State &amp;s) const</arglist>
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      <type>Vec3</type>
      <name>calcSystemMassCenterVelocityInGround</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a7e7c4a8c901513ef0eaff6cabe030ca6</anchor>
      <arglist>(const State &amp;s) const</arglist>
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      <type>Vec3</type>
      <name>calcSystemMassCenterAccelerationInGround</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ae3beee3925d85bc63e874afde3eeca2c</anchor>
      <arglist>(const State &amp;s) const</arglist>
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    <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>
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    <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>
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    <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>
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    <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>a28e6e67fa87eba9a452ce761f69ecf58</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>a9bd9663682f9e66fd045940a24a3b363</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>a926cd03fa8c77f7667a9540e5ad0876b</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>a4ee366614d3cf9a1d1dc7339c3b43245</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>ab5e21199c9b30e1686252d3dbc3a7d5f</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>ac0bc1cb1ed810844d1850eb8600ee269</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>ac8a41b77af06f49ea9447491eb7580ec</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>a8b76b15235ddcabe8021e93e6d971a5a</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>adb0a14924e72250f645c349f867c7e14</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex mbx) const</arglist>
    </member>
    <member kind="function">
      <type>const SpatialVec &amp;</type>
      <name>getMobilizerCoriolisAcceleration</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>aaceb6a81a5fe6b18f64957888e65c810</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex mbx) const</arglist>
    </member>
    <member kind="function">
      <type>const SpatialVec &amp;</type>
      <name>getTotalCoriolisAcceleration</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>aec5889c02e1efd2460286be359c1ea1d</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>ad45fdb886c3472bd1cdb58df2bcb43b3</anchor>
      <arglist>(const State &amp;state, MobilizedBodyIndex mbx) const</arglist>
    </member>
    <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>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isPositionKinematicsRealized</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>af6524e4441791639ccea7922c7ef05ae</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <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>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isVelocityKinematicsRealized</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a60a6dc6be701b48912ef810dfb2d4178</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <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>
    </member>
    <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>
    <member kind="function">
      <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>
    </member>
    <member kind="function">
      <type>const Vector_&lt; Vec3 &gt; &amp;</type>
      <name>getAllParticleLocations</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a8129734a0e21118b4c65d367a6a75d09</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>const Vector_&lt; Vec3 &gt; &amp;</type>
      <name>getAllParticleVelocities</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a2194161db64cc3d64d6d529f9eeaad90</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getParticleLocation</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a05e05c4596752e8e9f13a91c8d814b50</anchor>
      <arglist>(const State &amp;s, ParticleIndex p) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getParticleVelocity</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a5f715e5b3fef6579f284c1bee8a988f4</anchor>
      <arglist>(const State &amp;s, ParticleIndex p) const</arglist>
    </member>
    <member kind="function">
      <type>Vector &amp;</type>
      <name>updAllParticleMasses</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a2d3d6d64074f09fc52fe281ed7cc9f19</anchor>
      <arglist>(State &amp;s) const</arglist>
    </member>
    <member kind="function">
      <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>a60d3c53f3438ac099bab217d238ff628</anchor>
      <arglist>(State &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>Vector_&lt; Vec3 &gt; &amp;</type>
      <name>updAllParticleVelocities</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>ae1baf606a6fa7f1f2170c431a2e23f52</anchor>
      <arglist>(State &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3 &amp;</type>
      <name>updParticleLocation</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a493ac30adc6a8e015de311f0ef91f176</anchor>
      <arglist>(State &amp;s, ParticleIndex p) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3 &amp;</type>
      <name>updParticleVelocity</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a6fb0d622d178ebd1ba9026e08c2dbaef</anchor>
      <arglist>(State &amp;s, ParticleIndex p) const</arglist>
    </member>
    <member kind="function">
      <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>
    <member kind="function">
      <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>
    </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>aea2b4462aff4584ece865a474adf5136</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>a9eccb3ea2a2942e4a4286c7666dc921c</anchor>
      <arglist>(const State &amp;) const</arglist>
    </member>
    <member kind="function">
      <type>const Vec3 &amp;</type>
      <name>getParticleAcceleration</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubsystem.html</anchorfile>
      <anchor>a84ea1bd80084c4e7fbe89804d0f8a104</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>a30318bad43e129d571dd55d612d864fd</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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    <member kind="function">
      <type></type>
      <name>SimbodyMatterSubtree</name>
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      <arglist>(const SimbodyMatterSubtree &amp;)</arglist>
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    <member kind="function">
      <type>SimbodyMatterSubtree &amp;</type>
      <name>operator=</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtree.html</anchorfile>
      <anchor>ab6f27827b61ae1c52ce05603d42aa360</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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    <member kind="function">
      <type></type>
      <name>SimbodyMatterSubtree</name>
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      <arglist>(const SimbodyMatterSubsystem &amp;)</arglist>
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    <member kind="function">
      <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>
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    <member kind="function">
      <type>void</type>
      <name>setSimbodyMatterSubsystem</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtree.html</anchorfile>
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      <arglist>(const SimbodyMatterSubsystem &amp;matter)</arglist>
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    <member kind="function">
      <type>const SimbodyMatterSubsystem &amp;</type>
      <name>getSimbodyMatterSubsystem</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtree.html</anchorfile>
      <anchor>a0f6500c2d1e8172ee403999bbc1be0e5</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>a21fa560aba187822124704a259203399</anchor>
      <arglist>(MobilizedBodyIndex)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>realizeTopology</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtree.html</anchorfile>
      <anchor>a154222f2cbc984d48c2afc3fbdff18a9</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>int</type>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>MobilizedBodyIndex</type>
      <name>getAncestorMobilizedBodyIndex</name>
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      <arglist>() const</arglist>
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      <type>const Array_&lt; MobilizedBodyIndex &gt; &amp;</type>
      <name>getTerminalBodies</name>
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      <arglist>() const</arglist>
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      <type>const Array_&lt; MobilizedBodyIndex &gt; &amp;</type>
      <name>getAllBodies</name>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>SubtreeBodyIndex</type>
      <name>getParentSubtreeBodyIndex</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtree.html</anchorfile>
      <anchor>aaab7a864183b710ca51e616b11326538</anchor>
      <arglist>(SubtreeBodyIndex) const</arglist>
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      <type>const Array_&lt; SubtreeBodyIndex &gt; &amp;</type>
      <name>getChildSubtreeBodyIndices</name>
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      <arglist>(SubtreeBodyIndex) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>initializeSubtreeResults</name>
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      <anchor>ad4fbed2ca6a50fd4f2892bd36a68719a</anchor>
      <arglist>(const State &amp;, SimbodyMatterSubtreeResults &amp;) const</arglist>
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      <type>bool</type>
      <name>isCompatibleSubtreeResults</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtree.html</anchorfile>
      <anchor>ad7db2b02835a3e8ac531ceb0d47dcb2c</anchor>
      <arglist>(const SimbodyMatterSubtreeResults &amp;) const</arglist>
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    <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>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classSimTK_1_1SimbodyMatterSubtree.html</anchorfile>
      <anchor>a836fb1a67637e3be16353c9ab01622e3</anchor>
      <arglist>(const State &amp;, const Vector &amp;subQ, SimbodyMatterSubtreeResults &amp;) const</arglist>
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    <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>
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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>
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      <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>
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      <type>void</type>
      <name>calcVelocitiesFromZeroU</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtree.html</anchorfile>
      <anchor>ad99a9e89817913d543126ba9335890cd</anchor>
      <arglist>(const State &amp;, SimbodyMatterSubtreeResults &amp;) const</arglist>
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      <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>
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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>
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    <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>
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    <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>
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      <arglist>(const SimbodyMatterSubtreeResults &amp;)</arglist>
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      <type>SimbodyMatterSubtreeResults &amp;</type>
      <name>operator=</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtreeResults.html</anchorfile>
      <anchor>a8ad0107ed6196cb963de85ea75fca093</anchor>
      <arglist>(const SimbodyMatterSubtreeResults &amp;)</arglist>
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    <member kind="function">
      <type></type>
      <name>~SimbodyMatterSubtreeResults</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtreeResults.html</anchorfile>
      <anchor>a360c8f3a43976d2220223f5dc8661b65</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>clear</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtreeResults.html</anchorfile>
      <anchor>a8faeefbbb38f1576c93d85dc99bc66f7</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>reallocateBodies</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtreeResults.html</anchorfile>
      <anchor>aacc15b3b690f24529280e99231cfcfa8</anchor>
      <arglist>(int nBodies)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>addMobilities</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtreeResults.html</anchorfile>
      <anchor>a3643fd466915ea9752eaa6b4bca00220</anchor>
      <arglist>(SubtreeBodyIndex, QIndex qStart, int nq, UIndex uStart, int nu)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>realizeModel</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtreeResults.html</anchorfile>
      <anchor>a53be2ba470c9e4b0f0c0c3d1c72c6615</anchor>
      <arglist>(const Vector &amp;stateQ, const Vector &amp;stateU)</arglist>
    </member>
    <member kind="function">
      <type>Stage</type>
      <name>getStage</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtreeResults.html</anchorfile>
      <anchor>aa6f5b0d2a671cf57cd67fce701b8c65e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getNumSubtreeBodies</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtreeResults.html</anchorfile>
      <anchor>a26f1eb77fdcb2b49a5f321c03061def1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getNumSubtreeQs</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtreeResults.html</anchorfile>
      <anchor>a8c2bdc218ba62cb0296b723c3cbf7b81</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getNumSubtreeUs</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtreeResults.html</anchorfile>
      <anchor>a465a16d4db5de01b056aa05328f9e1a8</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>const Vector &amp;</type>
      <name>getSubtreeQ</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtreeResults.html</anchorfile>
      <anchor>a4f27ffa856e4cb9ab1cbd86edcdafc63</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>const Transform &amp;</type>
      <name>getSubtreeBodyTransform</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtreeResults.html</anchorfile>
      <anchor>ae74c9851e5ffb865b743e1bbe167c7d2</anchor>
      <arglist>(SubtreeBodyIndex) const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>getSubtreeU</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtreeResults.html</anchorfile>
      <anchor>a21b506d9500f713a0d7ccaa7607896c1</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>const SpatialVec &amp;</type>
      <name>getSubtreeBodyVelocity</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtreeResults.html</anchorfile>
      <anchor>ac24be958bd1eb0b727a654c597ccf97e</anchor>
      <arglist>(SubtreeBodyIndex) const</arglist>
    </member>
    <member kind="function">
      <type>const Vector &amp;</type>
      <name>getSubtreeUDot</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtreeResults.html</anchorfile>
      <anchor>a03e7868b54b7f67957b4651ff48add0e</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>const SpatialVec &amp;</type>
      <name>getSubtreeBodyAcceleration</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtreeResults.html</anchorfile>
      <anchor>a039e3c6bac32b9ad3d8c9d2da2413fcd</anchor>
      <arglist>(SubtreeBodyIndex) const</arglist>
    </member>
    <member kind="function">
      <type>const Array_&lt; QIndex &gt; &amp;</type>
      <name>getQSubset</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtreeResults.html</anchorfile>
      <anchor>a23ad21a8e70690a0e0d2327fcccb4fbc</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>const Array_&lt; UIndex &gt; &amp;</type>
      <name>getUSubset</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtreeResults.html</anchorfile>
      <anchor>a54844acfdc1c49177e7b05b436e66bee</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>findSubtreeBodyQ</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtreeResults.html</anchorfile>
      <anchor>aed93e634f918de602375e58aa14d57a7</anchor>
      <arglist>(SubtreeBodyIndex, SubtreeQIndex &amp;qStart, int &amp;nq) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>findSubtreeBodyU</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtreeResults.html</anchorfile>
      <anchor>ab7afa4774258a896c133b1200473f27b</anchor>
      <arglist>(SubtreeBodyIndex, SubtreeUIndex &amp;uStart, int &amp;nu) const</arglist>
    </member>
    <member kind="friend" protection="private">
      <type>friend class</type>
      <name>SimbodyMatterSubtree</name>
      <anchorfile>classSimTK_1_1SimbodyMatterSubtreeResults.html</anchorfile>
      <anchor>a82c092b3e774a59eeebfb2c060e805c7</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::SmoothSphereHalfSpaceForce</name>
    <filename>classSimTK_1_1SmoothSphereHalfSpaceForce.html</filename>
    <base>SimTK::Force</base>
    <member kind="function">
      <type></type>
      <name>SmoothSphereHalfSpaceForce</name>
      <anchorfile>classSimTK_1_1SmoothSphereHalfSpaceForce.html</anchorfile>
      <anchor>a42c4cc187b480735d529862f2caeaab9</anchor>
      <arglist>(GeneralForceSubsystem &amp;forces)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setParameters</name>
      <anchorfile>classSimTK_1_1SmoothSphereHalfSpaceForce.html</anchorfile>
      <anchor>ad37f16aec6ddb1bdc9d64503d90b21a0</anchor>
      <arglist>(Real stiffness, Real dissipation, Real staticFriction, Real dynamicFriction, Real viscousFriction, Real transitionVelocity, Real cf, Real bd, Real bv)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setStiffness</name>
      <anchorfile>classSimTK_1_1SmoothSphereHalfSpaceForce.html</anchorfile>
      <anchor>a51b026befe94b1b3d3005e506e3ae5b1</anchor>
      <arglist>(Real stiffness)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setDissipation</name>
      <anchorfile>classSimTK_1_1SmoothSphereHalfSpaceForce.html</anchorfile>
      <anchor>ad15cd7c24446e97f4d674f3629af6b71</anchor>
      <arglist>(Real dissipation)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setStaticFriction</name>
      <anchorfile>classSimTK_1_1SmoothSphereHalfSpaceForce.html</anchorfile>
      <anchor>a2f1b1bfdaea625c7966bbff55953692e</anchor>
      <arglist>(Real staticFriction)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setDynamicFriction</name>
      <anchorfile>classSimTK_1_1SmoothSphereHalfSpaceForce.html</anchorfile>
      <anchor>af874c36ea577a151430ba14466c75712</anchor>
      <arglist>(Real dynamicFriction)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setViscousFriction</name>
      <anchorfile>classSimTK_1_1SmoothSphereHalfSpaceForce.html</anchorfile>
      <anchor>a16db9c91a21c2afd6143d9de3ae463a3</anchor>
      <arglist>(Real viscousFriction)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setTransitionVelocity</name>
      <anchorfile>classSimTK_1_1SmoothSphereHalfSpaceForce.html</anchorfile>
      <anchor>a1038c855097531c5ac29456d29b9ed38</anchor>
      <arglist>(Real transitionVelocity)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setConstantContactForce</name>
      <anchorfile>classSimTK_1_1SmoothSphereHalfSpaceForce.html</anchorfile>
      <anchor>af02738a145843dd16088c4ee1d4d3558</anchor>
      <arglist>(Real cf)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setHertzSmoothing</name>
      <anchorfile>classSimTK_1_1SmoothSphereHalfSpaceForce.html</anchorfile>
      <anchor>aca9351dca7232cec44bfa618a5a1c235</anchor>
      <arglist>(Real bd)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setHuntCrossleySmoothing</name>
      <anchorfile>classSimTK_1_1SmoothSphereHalfSpaceForce.html</anchorfile>
      <anchor>a8a7764208b53dfae706b2810d3a788e3</anchor>
      <arglist>(Real bv)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setContactSphereBody</name>
      <anchorfile>classSimTK_1_1SmoothSphereHalfSpaceForce.html</anchorfile>
      <anchor>a5bfd491740aa53889df2e4bde3b52faf</anchor>
      <arglist>(MobilizedBody bodyInput1)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setContactSphereLocationInBody</name>
      <anchorfile>classSimTK_1_1SmoothSphereHalfSpaceForce.html</anchorfile>
      <anchor>aa6b793eeb64fe7c422eb93ec90b0e33d</anchor>
      <arglist>(Vec3 locationSphere)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setContactSphereRadius</name>
      <anchorfile>classSimTK_1_1SmoothSphereHalfSpaceForce.html</anchorfile>
      <anchor>a1812b61c105fa93d95d4b9837c8ba0f5</anchor>
      <arglist>(Real radius)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setContactHalfSpaceBody</name>
      <anchorfile>classSimTK_1_1SmoothSphereHalfSpaceForce.html</anchorfile>
      <anchor>a930fc2c9d2d76fecd6ff8aa4f0400f08</anchor>
      <arglist>(MobilizedBody bodyInput2)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setContactHalfSpaceFrame</name>
      <anchorfile>classSimTK_1_1SmoothSphereHalfSpaceForce.html</anchorfile>
      <anchor>a8bb1341b72980b0ec1b5ea0dfe021410</anchor>
      <arglist>(Transform halfSpaceFrame)</arglist>
    </member>
    <member kind="function">
      <type>MobilizedBody</type>
      <name>getBodySphere</name>
      <anchorfile>classSimTK_1_1SmoothSphereHalfSpaceForce.html</anchorfile>
      <anchor>afc31f75c71d9bb3d8ff536e50b676f60</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>MobilizedBody</type>
      <name>getBodyHalfSpace</name>
      <anchorfile>classSimTK_1_1SmoothSphereHalfSpaceForce.html</anchorfile>
      <anchor>aff389ecb34a7e7980880aa7f36ee4d27</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>getContactSphereLocationInBody</name>
      <anchorfile>classSimTK_1_1SmoothSphereHalfSpaceForce.html</anchorfile>
      <anchor>a4c9a6803adb85ef2d5ed8ecc451ddccb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Real</type>
      <name>getContactSphereRadius</name>
      <anchorfile>classSimTK_1_1SmoothSphereHalfSpaceForce.html</anchorfile>
      <anchor>af3439b81c9621915ad5f593b30f17cc8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Transform</type>
      <name>getContactHalfSpaceTransform</name>
      <anchorfile>classSimTK_1_1SmoothSphereHalfSpaceForce.html</anchorfile>
      <anchor>a8fde41e63e07d1eb02cbba5134b3c918</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS</name>
      <anchorfile>classSimTK_1_1SmoothSphereHalfSpaceForce.html</anchorfile>
      <anchor>a9855b6e0d76e5d9bdfd5c0446ad858b4</anchor>
      <arglist>(SmoothSphereHalfSpaceForce, SmoothSphereHalfSpaceForceImpl, Force)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>SimTK::SpatialInertia_</name>
    <filename>classSimTK_1_1SpatialInertia__.html</filename>
    <templarg>class P</templarg>
    <member kind="function">
      <type></type>
      <name>SpatialInertia_</name>
      <anchorfile>classSimTK_1_1SpatialInertia__.html</anchorfile>
      <anchor>a5a18e7fd09141c51fbaa54258117ccdb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SpatialInertia_</name>
      <anchorfile>classSimTK_1_1SpatialInertia__.html</anchorfile>
      <anchor>ab5b284bdee64fb8b30f434bccb8b718f</anchor>
      <arglist>(RealP mass, const Vec3P &amp;com, const UnitInertiaP &amp;gyration)</arglist>
    </member>
    <member kind="function">
      <type>SpatialInertia_ &amp;</type>
      <name>setMass</name>
      <anchorfile>classSimTK_1_1SpatialInertia__.html</anchorfile>
      <anchor>a3dff197b97f1b0a59f31fc85535b9e70</anchor>
      <arglist>(RealP mass)</arglist>
    </member>
    <member kind="function">
      <type>SpatialInertia_ &amp;</type>
      <name>setMassCenter</name>
      <anchorfile>classSimTK_1_1SpatialInertia__.html</anchorfile>
      <anchor>a0150e1b0864ee0b5715c45aaf91f35bc</anchor>
      <arglist>(const Vec3P &amp;com)</arglist>
    </member>
    <member kind="function">
      <type>SpatialInertia_ &amp;</type>
      <name>setUnitInertia</name>
      <anchorfile>classSimTK_1_1SpatialInertia__.html</anchorfile>
      <anchor>a192227a13c66d6f74a5a72293b95ef33</anchor>
      <arglist>(const UnitInertiaP &amp;gyration)</arglist>
    </member>
    <member kind="function">
      <type>RealP</type>
      <name>getMass</name>
      <anchorfile>classSimTK_1_1SpatialInertia__.html</anchorfile>
      <anchor>a1f88ea906eed408885a25363a5af0602</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const Vec3P &amp;</type>
      <name>getMassCenter</name>
      <anchorfile>classSimTK_1_1SpatialInertia__.html</anchorfile>
      <anchor>a60c3e84870f6f55b9b9ed112b3f46335</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const UnitInertiaP &amp;</type>
      <name>getUnitInertia</name>
      <anchorfile>classSimTK_1_1SpatialInertia__.html</anchorfile>
      <anchor>ace0e58ad6c61cbb67f258e9afc98275d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Vec3P</type>
      <name>calcMassMoment</name>
      <anchorfile>classSimTK_1_1SpatialInertia__.html</anchorfile>
      <anchor>a09d2b050c52ba530001cb5ed2e10bfc1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>InertiaP</type>
      <name>calcInertia</name>
      <anchorfile>classSimTK_1_1SpatialInertia__.html</anchorfile>
      <anchor>a4a9936c033332ce02ccaf47c4849f2b5</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SpatialInertia_ &amp;</type>
      <name>operator+=</name>
      <anchorfile>classSimTK_1_1SpatialInertia__.html</anchorfile>
      <anchor>ae3090412b908398f57cb6b719522bc53</anchor>
      <arglist>(const SpatialInertia_ &amp;src)</arglist>
    </member>
    <member kind="function">
      <type>SpatialInertia_ &amp;</type>
      <name>operator-=</name>
      <anchorfile>classSimTK_1_1SpatialInertia__.html</anchorfile>
      <anchor>a7fbf69b413bb190d7926e51c3c644d89</anchor>
      <arglist>(const SpatialInertia_ &amp;src)</arglist>
    </member>
    <member kind="function">
      <type>SpatialInertia_ &amp;</type>
      <name>operator*=</name>
      <anchorfile>classSimTK_1_1SpatialInertia__.html</anchorfile>
      <anchor>af3ecdc0dd9402929eb78068b6083d262</anchor>
      <arglist>(const RealP &amp;s)</arglist>
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    <member kind="function">
      <type>SpatialInertia_ &amp;</type>
      <name>operator/=</name>
      <anchorfile>classSimTK_1_1SpatialInertia__.html</anchorfile>
      <anchor>a0db137186b8044f8b3817e1c8d547f1e</anchor>
      <arglist>(const RealP &amp;s)</arglist>
    </member>
    <member kind="function">
      <type>SpatialVecP</type>
      <name>operator*</name>
      <anchorfile>classSimTK_1_1SpatialInertia__.html</anchorfile>
      <anchor>aaa9c4272162e7fa8778ce8ec3e6c4671</anchor>
      <arglist>(const SpatialVecP &amp;v) const</arglist>
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    <member kind="function">
      <type>SpatialInertia_</type>
      <name>reexpress</name>
      <anchorfile>classSimTK_1_1SpatialInertia__.html</anchorfile>
      <anchor>a5c938294812abcbfa1875922a2a880d5</anchor>
      <arglist>(const Rotation_&lt; P &gt; &amp;R_FB) const</arglist>
    </member>
    <member kind="function">
      <type>SpatialInertia_</type>
      <name>reexpress</name>
      <anchorfile>classSimTK_1_1SpatialInertia__.html</anchorfile>
      <anchor>a2d67fd62ab5788aa286af03502265c92</anchor>
      <arglist>(const InverseRotation_&lt; P &gt; &amp;R_FB) const</arglist>
    </member>
    <member kind="function">
      <type>SpatialInertia_ &amp;</type>
      <name>reexpressInPlace</name>
      <anchorfile>classSimTK_1_1SpatialInertia__.html</anchorfile>
      <anchor>a379c63b04a18fa3cdc773b243b1783c6</anchor>
      <arglist>(const Rotation_&lt; P &gt; &amp;R_FB)</arglist>
    </member>
    <member kind="function">
      <type>SpatialInertia_ &amp;</type>
      <name>reexpressInPlace</name>
      <anchorfile>classSimTK_1_1SpatialInertia__.html</anchorfile>
      <anchor>ae019e49e52d24a292b5f6fa34ebad875</anchor>
      <arglist>(const InverseRotation_&lt; P &gt; &amp;R_FB)</arglist>
    </member>
    <member kind="function">
      <type>SpatialInertia_</type>
      <name>shift</name>
      <anchorfile>classSimTK_1_1SpatialInertia__.html</anchorfile>
      <anchor>a9c9cd5ab38ea1844960431eb55799fa9</anchor>
      <arglist>(const Vec3P &amp;S) const</arglist>
    </member>
    <member kind="function">
      <type>SpatialInertia_ &amp;</type>
      <name>shiftInPlace</name>
      <anchorfile>classSimTK_1_1SpatialInertia__.html</anchorfile>
      <anchor>a3b4c1703479c04dc078a1889f56328f8</anchor>
      <arglist>(const Vec3P &amp;S)</arglist>
    </member>
    <member kind="function">
      <type>SpatialInertia_</type>
      <name>transform</name>
      <anchorfile>classSimTK_1_1SpatialInertia__.html</anchorfile>
      <anchor>a7a37e224a46f3a19c06696309c83a4ab</anchor>
      <arglist>(const Transform_&lt; P &gt; &amp;X_FB) const</arglist>
    </member>
    <member kind="function">
      <type>SpatialInertia_</type>
      <name>transform</name>
      <anchorfile>classSimTK_1_1SpatialInertia__.html</anchorfile>
      <anchor>a9b6e29d78b92ae6d555101be9c1a2449</anchor>
      <arglist>(const InverseTransform_&lt; P &gt; &amp;X_FB) const</arglist>
    </member>
    <member kind="function">
      <type>SpatialInertia_ &amp;</type>
      <name>transformInPlace</name>
      <anchorfile>classSimTK_1_1SpatialInertia__.html</anchorfile>
      <anchor>a4b729036dde539eff290fb6d8ebfd446</anchor>
      <arglist>(const Transform_&lt; P &gt; &amp;X_FB)</arglist>
    </member>
    <member kind="function">
      <type>SpatialInertia_ &amp;</type>
      <name>transformInPlace</name>
      <anchorfile>classSimTK_1_1SpatialInertia__.html</anchorfile>
      <anchor>a6a918bd885e22b931a0f5ed1e3bde583</anchor>
      <arglist>(const InverseTransform_&lt; P &gt; &amp;X_FB)</arglist>
    </member>
    <member kind="function">
      <type>const SpatialMatP</type>
      <name>toSpatialMat</name>
      <anchorfile>classSimTK_1_1SpatialInertia__.html</anchorfile>
      <anchor>a90961f898e20493becdbd6feac4919e2</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>SpatialInertia_&lt; P &gt;</type>
      <name>operator+</name>
      <anchorfile>classSimTK_1_1SpatialInertia__.html</anchorfile>
      <anchor>aa8fbbb1b76326c2960f89c3cc17256e3</anchor>
      <arglist>(const SpatialInertia_&lt; P &gt; &amp;l, const SpatialInertia_&lt; P &gt; &amp;r)</arglist>
    </member>
    <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>class T</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>
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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) 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>(State &amp;s, const Vector &amp;q) const</arglist>
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      <arglist>(State &amp;s, const Vector &amp;z) const</arglist>
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      <arglist>(const State &amp;s, Stage g) const</arglist>
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      <arglist>(const State &amp;s, DiscreteVariableIndex index) const</arglist>
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      <arglist>(const State &amp;s, DiscreteVariableIndex dx) const</arglist>
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      <arglist>(const State &amp;s, CacheEntryIndex cx) const</arglist>
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      <arglist>(const State &amp;s, CacheEntryIndex cx) const</arglist>
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      <arglist>(AbstractMeasure &amp;)</arglist>
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      <arglist>(Subsystem::Guts *g)</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) 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 Vector &amp;z) const</arglist>
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      <arglist>(const State &amp;s, Stage g) const</arglist>
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      <arglist>(const State &amp;s, DiscreteVariableIndex index) const</arglist>
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      <arglist>(const State &amp;s, CacheEntryIndex index) const</arglist>
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      <arglist>(const State &amp;s, CacheEntryIndex cx) const</arglist>
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      <arglist>(const State &amp;s, CacheEntryIndex cx) const</arglist>
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      <arglist>(const State &amp;s, CacheEntryIndex cx) const</arglist>
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      <arglist>() const =0</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) 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;, 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 State &amp;, Event::Cause, const Array_&lt; EventId &gt; &amp;eventIds) const</arglist>
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      <arglist></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;state, 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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      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
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      <arglist>(const State &amp;s) const</arglist>
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      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
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      <arglist>(const State &amp;s) const</arglist>
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      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
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      <arglist>(const State &amp;s) const</arglist>
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      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
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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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      <type>const Vector &amp;</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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      <type>const Vector &amp;</type>
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      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
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      <arglist>(const State &amp;s) const</arglist>
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      <type>const Vector &amp;</type>
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      <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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      <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>getQErr</name>
      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
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      <arglist>(const State &amp;s) const</arglist>
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      <anchorfile>classSimTK_1_1Subsystem_1_1Guts.html</anchorfile>
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      <arglist>(const State &amp;s) const</arglist>
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      <name>getQErrWeights</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>getUErrWeights</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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      <arglist>(const State &amp;s) const</arglist>
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      <name>getEventTriggersByStage</name>
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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) 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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      <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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      <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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      <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_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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      <arglist>(const State &amp;s) const</arglist>
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      <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 System &amp;otherSystem) const</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>() const</arglist>
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      <arglist></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>() const</arglist>
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      <arglist>(ScheduledEventHandler *handler)</arglist>
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      <arglist>(TriggeredEventHandler *handler)</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>()</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>()</arglist>
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      <arglist>() const</arglist>
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      <arglist>()</arglist>
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      <arglist>(Stage requiredStage)</arglist>
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      <arglist>(int sign=1)</arglist>
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      <arglist>()</arglist>
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      <arglist>(State &amp;state) const =0</arglist>
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      <arglist>(State &amp;state) const =0</arglist>
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      <arglist>(const State &amp;state) const =0</arglist>
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      <arglist>(const State &amp;state, Real defaultCaptureSpeed, Real defaultMinCORSpeed, Real impactSpeed) const =0</arglist>
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      <arglist>(const State &amp;state) const =0</arglist>
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      <arglist>(const State &amp;state) const =0</arglist>
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      <arglist>(const State &amp;state) const =0</arglist>
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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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      <type>virtual bool</type>
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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>(const State &amp;state, MultiplierIndex &amp;ix_x, MultiplierIndex &amp;ix_y) 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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      <anchorfile>classSimTK_1_1UnilateralContact.html</anchorfile>
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      <arglist>() const</arglist>
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      <arglist>()</arglist>
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      <arglist>(bool showFrameRate) const</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>(Mode mode)</arglist>
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      <arglist>(Real framesPerSec)</arglist>
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      <arglist>(Real bufferLengthInSec)</arglist>
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      <arglist>(InputListener *listener)</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>() const</arglist>
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      <arglist></arglist>
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      <arglist>(BackgroundType background)</arglist>
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      <arglist>(const String &amp;title) const</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>(Mode mode)</arglist>
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      <arglist>() const</arglist>
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