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<div id="projectname">KatanaNativeInterface <span id="projectnumber">$VERSION$</span></div>
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<h1>CikBase Class Reference</h1> </div>
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<!-- doxytag: class="CikBase" --><!-- doxytag: inherits="CKatana" -->
<p><code>#include <<a class="el" href="ikBase_8h_source.html">ikBase.h</a>></code></p>
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Inheritance diagram for CikBase:</div>
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<area shape="rect" id="node5" href="classCLMBase.html" title="Linear movement Class." alt="" coords="5,1521,216,2005"/><area shape="rect" id="node2" href="classCKatana.html" title="Extended Katana class with additional functions." alt="" coords="12,5,209,1165"/></map>
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Collaboration diagram for CikBase:</div>
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<area shape="rect" id="node2" href="classCKatana.html" title="Extended Katana class with additional functions." alt="" coords="411,1365,608,2525"/><area shape="rect" id="node4" href="classCKatBase.html" title="Base Katana class." alt="" coords="685,433,883,1298"/><area shape="rect" id="node16" href="structTSctGNL.html" title="[GNL] controller generals" alt="" coords="636,1885,713,2005"/><area shape="rect" id="node43" href="structTMotGNL.html" title="[GNL] motor generals" alt="" coords="1031,1894,1108,1997"/><area shape="rect" id="node6" href="structTKatMFW.html" title="[MFW] master firmware version/revision number" alt="" coords="844,227,927,330"/><area shape="rect" id="node8" href="structTKatCBX.html" title="[CBX] connector box" alt="" coords="951,227,1028,330"/><area shape="rect" id="node10" href="structTKatSCT.html" title="[SCT] every sens ctrl's attributes" alt="" coords="765,3941,843,4061"/><area shape="rect" id="node12" href="structTSctDesc.html" title="sensor controller description (partly)" alt="" coords="753,3173,855,3293"/><area shape="rect" id="node14" href="classCSctBase.html" title="Sensor Controller class." alt="" coords="620,3139,729,3328"/><area shape="rect" id="node19" href="structTSctDAT.html" title="[DAT] sensor data" alt="" coords="737,1894,815,1997"/><area shape="rect" id="node21" href="classCCplBase.html" title="Abstract base class for protocol definiton." alt="" coords="1052,193,1207,365"/><area shape="rect" id="node37" href="classCMotBase.html" title="Motor class." alt="" coords="1452,2593,1641,3874"/><area shape="rect" id="node23" href="classCCdlBase.html" title="Abstract base class for devices." alt="" coords="1075,5,1184,125"/><area shape="rect" id="node25" href="structTKatCTB.html" title="[CTB] command table defined in the firmware" alt="" coords="287,236,364,321"/><area shape="rect" id="node27" href="structTKatECH.html" title="[ECH] echo" alt="" coords="388,236,465,321"/><area shape="rect" id="node29" href="structTKatEFF.html" title="Inverse Kinematics structure of the endeffektor." alt="" coords="489,236,596,321"/><area shape="rect" id="node31" href="structTKatGNL.html" title="[GNL] general robot attributes" alt="" coords="620,227,724,330"/><area shape="rect" id="node33" href="structTKatMOT.html" title="[MOT] every motor's attributes" alt="" coords="1191,3941,1268,4061"/><area shape="rect" id="node35" href="structTMotDesc.html" title="motor description (partly)" alt="" coords="1188,3191,1271,3276"/><area shape="rect" id="node39" href="structTMotENL.html" title="[ENL] limits in encoder values (INTERNAL STRUCTURE!)" alt="" coords="1447,1868,1564,2023"/><area shape="rect" id="node41" href="structTMotSFW.html" title="[SFW] slave firmware" alt="" coords="1639,1868,1735,2023"/><area shape="rect" id="node46" href="structTMotInit.html" title="Initial motor parameters." alt="" coords="1759,1859,1900,2031"/><area shape="rect" id="node48" href="structTMotCLB.html" title="Calibration structure for single motors." alt="" coords="1993,1842,2148,2049"/><area shape="rect" id="node50" href="structTMotSCP.html" title="[SCP] static controller parameters" alt="" coords="1923,693,2072,1038"/><area shape="rect" id="node52" href="structTMotDYL.html" title="[DYL] dynamic limits" alt="" coords="2101,736,2235,995"/><area shape="rect" id="node54" href="structTMotPVP.html" title="[PVP] position, velocity, pulse width modulation" alt="" coords="1132,1877,1209,2014"/><area shape="rect" id="node56" href="structTMotAPS.html" title="[APS] actual position" alt="" coords="1233,1894,1316,1997"/><area shape="rect" id="node59" href="structTMotTPS.html" title="[TPS] target position" alt="" coords="1340,1894,1423,1997"/><area shape="rect" id="node63" href="structTKatIDS.html" title="[IDS] identification string" alt="" coords="748,236,820,321"/><area shape="rect" id="node68" href="classKNI_1_1KatanaKinematics.html" title="The base class for all kinematic implementations." alt="" coords="5,797,163,934"/><area shape="rect" id="node70" title="STL class." alt="" coords="187,823,312,908"/></map>
<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classCikBase-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCikBase.html#adcbb7baef95a11a1d07ffb00d2175518">CikBase</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCikBase.html#a485fca6a17129a207119be70bed712e1">~CikBase</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCikBase.html#a26ccc3fd9b12c943293b55729cdcd4f4">DKApos</a> (double *position)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the current position of the robot in cartesian coordinates. <a href="#a26ccc3fd9b12c943293b55729cdcd4f4"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCikBase.html#a89fdf0850375610633afc6f533d2f154">getCoordinates</a> (double &x, double &y, double &z, double &phi, double &theta, double &psi, bool refreshEncoders=true)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the current position of the robot in cartesian coordinates. <a href="#a89fdf0850375610633afc6f533d2f154"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCikBase.html#a8835a3ae38cc8060d6f8b17f99fb3977">IKCalculate</a> (double X, double Y, double Z, double Al, double Be, double Ga, std::vector< int >::iterator solution_iter)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Calculates a set of encoders for the given coordinates. <a href="#a8835a3ae38cc8060d6f8b17f99fb3977"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCikBase.html#ae0fae03967fd380483885c962053521a">IKCalculate</a> (double X, double Y, double Z, double Al, double Be, double Ga, std::vector< int >::iterator solution_iter, const std::vector< int > &actualPosition)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Calculates a set of encoders for the given coordinates. <a href="#ae0fae03967fd380483885c962053521a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCikBase.html#a82a8db2fe2b7c32304de69847e3619c3">IKGoto</a> (double X, double Y, double Z, double Al, double Be, double Ga, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Moves to robot to given cartesian coordinates and euler-angles. <a href="#a82a8db2fe2b7c32304de69847e3619c3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCikBase.html#ae0f0ec2aeff64f9425d1ec6337c3259c">moveRobotTo</a> (double x, double y, double z, double phi, double theta, double psi, bool waitUntilReached=false, int waitTimeout=TM_ENDLESS)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Moves to robot to given cartesian coordinates and euler-angles. <a href="#ae0f0ec2aeff64f9425d1ec6337c3259c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCikBase.html#a7fac0f11c9a8268ea82cb43a44973e24">moveRobotTo</a> (std::vector< double > coordinates, bool waitUntilReached=false, int waitTimeout=TM_ENDLESS)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This method does the same as the one above and is mainly provided for convenience. <a href="#a7fac0f11c9a8268ea82cb43a44973e24"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pri-methods"></a>
Private Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCikBase.html#ab60e2404dbae801cf78c5c5726d17efa">_initKinematics</a> ()</td></tr>
<tr><td colspan="2"><h2><a name="pri-attribs"></a>
Private Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">std::auto_ptr<br class="typebreak"/>
< <a class="el" href="classKNI_1_1KatanaKinematics.html">KNI::KatanaKinematics</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classCikBase.html#affb26c40aeaa01792a99fd72c804b46f">_kinematicsImpl</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classCikBase.html#a69d4d16d46e69d842690a0d7dc0126bd">_kinematicsIsInitialized</a></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<div class="textblock">
<p>Definition at line <a class="el" href="ikBase_8h_source.html#l00044">44</a> of file <a class="el" href="ikBase_8h_source.html">ikBase.h</a>.</p>
</div><hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="adcbb7baef95a11a1d07ffb00d2175518"></a><!-- doxytag: member="CikBase::CikBase" ref="adcbb7baef95a11a1d07ffb00d2175518" args="()" -->
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<td class="memname">CikBase::CikBase </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="ikBase_8h_source.html#l00053">53</a> of file <a class="el" href="ikBase_8h_source.html">ikBase.h</a>.</p>
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<a class="anchor" id="a485fca6a17129a207119be70bed712e1"></a><!-- doxytag: member="CikBase::~CikBase" ref="a485fca6a17129a207119be70bed712e1" args="()" -->
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<td class="memname">CikBase::~CikBase </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="ikBase_8h_source.html#l00054">54</a> of file <a class="el" href="ikBase_8h_source.html">ikBase.h</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="ab60e2404dbae801cf78c5c5726d17efa"></a><!-- doxytag: member="CikBase::_initKinematics" ref="ab60e2404dbae801cf78c5c5726d17efa" args="()" -->
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<td class="memname">void CikBase::_initKinematics </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [private]</code></td>
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</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="a26ccc3fd9b12c943293b55729cdcd4f4"></a><!-- doxytag: member="CikBase::DKApos" ref="a26ccc3fd9b12c943293b55729cdcd4f4" args="(double *position)" -->
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<td class="memname">void CikBase::DKApos </td>
<td>(</td>
<td class="paramtype">double * </td>
<td class="paramname"><em>position</em></td><td>)</td>
<td></td>
</tr>
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<p>Returns the current position of the robot in cartesian coordinates. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>This method is deprecated, please use getCoordinates(...) instead </dd></dl>
</div>
</div>
<a class="anchor" id="a89fdf0850375610633afc6f533d2f154"></a><!-- doxytag: member="CikBase::getCoordinates" ref="a89fdf0850375610633afc6f533d2f154" args="(double &x, double &y, double &z, double &phi, double &theta, double &psi, bool refreshEncoders=true)" -->
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<td class="memname">void CikBase::getCoordinates </td>
<td>(</td>
<td class="paramtype">double & </td>
<td class="paramname"><em>x</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"><em>y</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"><em>z</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"><em>phi</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"><em>theta</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"><em>psi</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>refreshEncoders</em> = <code>true</code> </td>
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<td></td>
<td>)</td>
<td></td><td></td>
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<p>Returns the current position of the robot in cartesian coordinates. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">refreshEncoders</td><td>With this parameter you can determine if the method reads the actual encoders from the robot or if it will use the cached ones </td></tr>
</table>
</dd>
</dl>
<dl class="note"><dt><b>Note:</b></dt><dd>This function returns a tuple in python </dd></dl>
</div>
</div>
<a class="anchor" id="a8835a3ae38cc8060d6f8b17f99fb3977"></a><!-- doxytag: member="CikBase::IKCalculate" ref="a8835a3ae38cc8060d6f8b17f99fb3977" args="(double X, double Y, double Z, double Al, double Be, double Ga, std::vector< int >::iterator solution_iter)" -->
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<td class="memname">void CikBase::IKCalculate </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"><em>X</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Y</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Z</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Al</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Be</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Ga</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">std::vector< int >::iterator </td>
<td class="paramname"><em>solution_iter</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
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<div class="memdoc">
<p>Calculates a set of encoders for the given coordinates. </p>
<p>This method reads the current encoders from the robot and involves therefore also communication to the robot </p>
</div>
</div>
<a class="anchor" id="ae0fae03967fd380483885c962053521a"></a><!-- doxytag: member="CikBase::IKCalculate" ref="ae0fae03967fd380483885c962053521a" args="(double X, double Y, double Z, double Al, double Be, double Ga, std::vector< int >::iterator solution_iter, const std::vector< int > &actualPosition)" -->
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<td class="memname">void CikBase::IKCalculate </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"><em>X</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Y</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Z</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Al</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Be</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Ga</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">std::vector< int >::iterator </td>
<td class="paramname"><em>solution_iter</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const std::vector< int > & </td>
<td class="paramname"><em>actualPosition</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
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<div class="memdoc">
<p>Calculates a set of encoders for the given coordinates. </p>
<p>For this method you have to pass an actualPosition too. No communication with the robot will be done here. </p>
</div>
</div>
<a class="anchor" id="a82a8db2fe2b7c32304de69847e3619c3"></a><!-- doxytag: member="CikBase::IKGoto" ref="a82a8db2fe2b7c32304de69847e3619c3" args="(double X, double Y, double Z, double Al, double Be, double Ga, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)" -->
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<td class="memname">void CikBase::IKGoto </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"><em>X</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">double </td>
<td class="paramname"><em>Y</em>, </td>
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<td class="paramtype">double </td>
<td class="paramname"><em>Z</em>, </td>
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<td class="paramtype">double </td>
<td class="paramname"><em>Al</em>, </td>
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<td class="paramtype">double </td>
<td class="paramname"><em>Be</em>, </td>
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<td class="paramtype">double </td>
<td class="paramname"><em>Ga</em>, </td>
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<td class="paramtype">bool </td>
<td class="paramname"><em>wait</em> = <code>false</code>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">int </td>
<td class="paramname"><em>tolerance</em> = <code>100</code>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">long </td>
<td class="paramname"><em>timeout</em> = <code>TM_ENDLESS</code> </td>
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<td></td>
<td>)</td>
<td></td><td></td>
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<p>Moves to robot to given cartesian coordinates and euler-angles. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>This method is deprecated, please use moveRobotTo(...) instead </dd></dl>
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<a class="anchor" id="a7fac0f11c9a8268ea82cb43a44973e24"></a><!-- doxytag: member="CikBase::moveRobotTo" ref="a7fac0f11c9a8268ea82cb43a44973e24" args="(std::vector< double > coordinates, bool waitUntilReached=false, int waitTimeout=TM_ENDLESS)" -->
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<td class="memname">void CikBase::moveRobotTo </td>
<td>(</td>
<td class="paramtype">std::vector< double > </td>
<td class="paramname"><em>coordinates</em>, </td>
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<td class="paramtype">bool </td>
<td class="paramname"><em>waitUntilReached</em> = <code>false</code>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>waitTimeout</em> = <code>TM_ENDLESS</code> </td>
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<td>)</td>
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<p>This method does the same as the one above and is mainly provided for convenience. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>You can call this function in python using tuples: Example: katana.moveRobotTo( (x,y,z,phi,theta,psi) ) </dd>
<dd>
If the size of the container is smaller than 6, it will throw an exception </dd></dl>
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<a class="anchor" id="ae0f0ec2aeff64f9425d1ec6337c3259c"></a><!-- doxytag: member="CikBase::moveRobotTo" ref="ae0f0ec2aeff64f9425d1ec6337c3259c" args="(double x, double y, double z, double phi, double theta, double psi, bool waitUntilReached=false, int waitTimeout=TM_ENDLESS)" -->
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<td class="memname">void CikBase::moveRobotTo </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"><em>x</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>y</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>z</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>phi</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>theta</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>psi</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>waitUntilReached</em> = <code>false</code>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>waitTimeout</em> = <code>TM_ENDLESS</code> </td>
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<td></td>
<td>)</td>
<td></td><td></td>
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<p>Moves to robot to given cartesian coordinates and euler-angles. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>Instead of a given tolerance, a default tolerance is being used </dd></dl>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="affb26c40aeaa01792a99fd72c804b46f"></a><!-- doxytag: member="CikBase::_kinematicsImpl" ref="affb26c40aeaa01792a99fd72c804b46f" args="" -->
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<td class="memname">std::auto_ptr<<a class="el" href="classKNI_1_1KatanaKinematics.html">KNI::KatanaKinematics</a>> <a class="el" href="classCikBase.html#affb26c40aeaa01792a99fd72c804b46f">CikBase::_kinematicsImpl</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="ikBase_8h_source.html#l00047">47</a> of file <a class="el" href="ikBase_8h_source.html">ikBase.h</a>.</p>
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<a class="anchor" id="a69d4d16d46e69d842690a0d7dc0126bd"></a><!-- doxytag: member="CikBase::_kinematicsIsInitialized" ref="a69d4d16d46e69d842690a0d7dc0126bd" args="" -->
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<td class="memname">bool <a class="el" href="classCikBase.html#a69d4d16d46e69d842690a0d7dc0126bd">CikBase::_kinematicsIsInitialized</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="ikBase_8h_source.html#l00048">48</a> of file <a class="el" href="ikBase_8h_source.html">ikBase.h</a>.</p>
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<hr/>The documentation for this class was generated from the following file:<ul>
<li>include/KNI_InvKin/<a class="el" href="ikBase_8h_source.html">ikBase.h</a></li>
</ul>
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